油菜气送式双变量供种装置调控系统设计与试验

Design and Experiment of Regulation System for Air-assisted Bi-variable Seed Supply Device for Oilseed Rape

摘要:

针对现有油菜直播机控制系统响应速度慢、决策模型精度低,导致作业效率下降、排种量误差大的问题,基于 油菜气送式双变量供种装置,设计了一种转速工作长度双变量供种的控制序列决策调控系统。通过分析多目标常青藤算法(Multi-objective Ivy algorithm,MOIVY)和莱维飞行算法(Lévy flight algorithm,LFA)的算法机理,结合标 定试验建立排种相对误差、控制器响应时间和各行播量一致性变异系数的多目标适应度函数,构建了LFA-MOIVY 控制序列决策模型。开展MOIVY、DE-MOIVY 和LFA-MOIVY 算法优越性仿真对比试验,试验结果表明, 在目标播量为1. 5、3. 0、4. 5、6. 0 kg/ hm2时,LFA-MOIVY算法HV平均值分别为2. 35、2. 63、2. 02、1. 98,Pareto解集覆盖范围全面,分布均匀,综合性能优于其余两种算法。台架对比试验表明,LFA-MOIVY 播种决策方法较传统决 策方法相比,排种相对误差下降了0. 76 个百分点,各行播量一致性变异系数下降了2. 43 个百分点,响应时间缩短了0. 14 s。路面试验表明,在油菜直播机不同作业速度和播量双重变化下,排种相对误差不高于4. 5% ,变异系数 不高于6. 2% ,响应时间范围为1. 59 ~ 2. 61 s,转速控制精度不低于97. 6% ,工作长度控制精度不低于98. 6% ,各项指标符合国家和相关行业标准要求。田间试验表明,播种量为4. 5 kg/ hm2,作业速度为3 ~ 12 km/ h 时,转速调节范围为18. 8 ~ 47. 0 r/ min,工作长度调节范围为19. 0 ~ 30. 0 mm,播种精度提高3. 41个百分点,变异系数下降2. 24 个百分点,响应时间范围为2. 10 ~ 2. 86 s。研究结果可为小粒径精量播种调控技术提供参考。

Abstract:

Aiming at the problems of slow response speed and low precision of the decision-making model in the existing rapeseed direct seeder control system, which lead to decreased operation efficiency and large seeding quantity error, a control sequence decision-making and regulation system for rotational speed-working length bi-variable seeding was designed based on the air-assisted bi-variable seeding device for rapeseed. By analyzing the algorithm mechanisms of the multi-objective Ivy algorithm (MOIVY) and Lévy flight algorithm (LFA), a multi-objective fitness function involving seeding error, controller response time, and coefficient of variation for inter-row seeding quantity consistency was established, and an LFA-MOIVY control sequence decision-making model was constructed. Comparative simulation experiments were conducted to verify the superiority of the MOIVY, DE-MOIVY, and LFA-MOIVY algorithms. The results showed that when the target seeding rates were 1. 5 kg / hm2, 3. 0 kg / hm2, 4. 5 kg / hm2, and 6. 0 kg / hm2, the average Hypervolume (HV) values of the LFA MOIVY algorithm were 2. 35, 2. 63, 2. 02, and 1. 98, respectively. Its Pareto solution set exhibited comprehensive coverage and uniform distribution, and its overall performance was superior to that of the other two algorithms. Bench comparison tests indicated that compared with the traditional decision-making method, the LFA MOIVY seeding decision-making method reduced the relative seeding error by 0. 76 percentage points, the coefficient of variation by 2. 43 percentage points, and shortened the response time by 0. 14 s. Pavement tests showed that under the dual changes of different operation speeds and seeding rates of the rapeseed direct seeder, the relative seeding error was no more than 4. 5% , the coefficient of variation was no more than 6. 2% , the response time ranged from 1. 59 s to 2. 61 s, the rotational speed control accuracy was not less than 97. 6% , and the working length control accuracy was not less than 98. 6% , all of which met the requirements of national and relevant industry standards. Field tests demonstrated that when the seeding rate was 4. 5 kg / hm2 and the operation speed was 3 ~ 12 km/ h, the rotational speed adjustment range was 18. 8 ~ 47. 0 r/ min, the working length adjustment range was 19. 0 ~ 30. 0 mm, the seeding accuracy was increased by 3. 41 percentage points, the coefficient of variation was decreased by 2. 24 percentage points, and the response time ranged from 2. 10 s to 2. 86 s. The research results can provide a reference for the precision seeding regulation technology of small-seeded crops.