| Due to the low seedling survival rate,small market share,and limited operation scale of miscellaneous grains and beans such as mung beans,they are usually sown in a scattered manner,and the application of precision seeding technology in their seeding is relatively limited.However,in recent years,with the continuous improvement of bean breeding technology and the expansion of the grain market,precision seeding technology has become one of the key research areas in the development of bean seeding systems.Precision seeding technology faces some challenges when applied in high-density seeding of miscellaneous grain and bean crops.For example,the theoretical plant spacing is small,the qualified seeding range is narrow,internal and external interference lead to a high rate of missed seeding,and uneven seeding.To solve these problems,a pneumatic electric-driven mung bean precision seeding control system was proposed.This system uses intelligent control algorithms to achieve precise control and adaptive adjustment of seeding,which can improve seeding quality and efficiency.The specific research contents are as follows:(1)This paper uses analysis and experiment comprehensively to determine the type selection,driving mode and the establishment of mathematical model of the seeding motor.Based on the selection of the torque-free motor with load and seed suction measured by the electronic torsion instrument,the best mode of the three common motor driving modes is adopted.In addition,by deducing the voltage balance equation,this paper establishes the mathematical model of seeding motor.(2)This paper studies an air-suction electric drive mung bean precision seeding control strategy,and proposes an intelligent control strategy through mathematical modeling of seeding motor and improving Grey Wolf algorithm to adjust parameters of linear active disturbance rejection controller.The proposed intelligent control system is tested by comparing with three kinds of motor control strategies,namely,PID controller,LADRC and GGO-LADRC,which are set by empirical method.The simulation results show that the control system of electric driven mung bean precision planter using IGWO-LADRC has no overshoot,the adjustment time is 0.57 seconds,no static error,the recovery time by interference is 0.35 seconds,and there is no oscillation phenomenon and no static error after it reaches the steady state again.(3)This paper designs the hardware circuit of the air-sucking electric drive mung bean precision sowing control system,including the main controller module,human-computer interaction module,power supply module,motor drive module,speed acquisition module,communication module and other different parts.In addition,the software program is designed,mainly considering the use of development language,compilation environment and each module subroutine writing.At the same time,the anti-interference design of digital filtering technology and "watchdog" technology makes the system stability and reliability further improved.(4)The experimental study was mainly used to verify the superiority of the air-suction electric drive mung bean precision seeding control system,including the precision test of seeding device speed,seeding performance test and field test.The results show that the control system of electric driven mung bean precision seeder based on IGWO-LADRC has excellent performance,and has good operation effect in the experiment of precision seeding performance of air suction electric driven mung bean.Compared with traditional chain-driven and PID electronic control seeding,IGWO-LADRC system performed better in a number of seed placement performance indexes,with its qualified index increased by 2.75 percentage points,the replay index decreased by 0.46 percentage points,and the missed seeding index decreased by 2.22 percentage points.Meanwhile,the coefficient of variation and the coefficient of variation of qualified plant spacing decreased.Field test results also show the good performance of this system. |
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