Design And Research On The Directional Control System For Sugarcane Seed Planting

At present,domestic and foreign sugarcane planting machinery does not consider identifying and adjusting the sugarcane sprouts before sowing.Instead,they directly discharge the sugarcane seeds from the seeding groove into the seed ditch.Although this blind planting method has a fast sowing speed,it cannot ensure that the sugarcane sprouts face the wall of the seed ditch when the sugarcane seeds fall into the seed bed,which cannot meet the agronomic requirements of directional planting of sugarcane seeds.As a result,the growth status and yield of the sown sugarcane are not as good as those of manual directional planting.To overcome this bottleneck,this article designs a sugarcane seed orientation test bench based on the sugarcane seed orientation device independently developed by the research group.A precise sugarcane seed orientation method based on visual servo control and a seed positioning control strategy based on adaptive fuzzy PID algorithm for sugarcane seed orientation device are proposed,and relevant design and research on sugarcane seed planting orientation control system are carried out.The main research content is as follows:(1)Analyze and propose the overall design requirements for the sugarcane seed planting orientation control system,design the overall structure of the sugarcane seed orientation test bench,and explain the structural composition and working principle of the sugarcane seed conveying mechanism,sugarcane seed adjustment device,image acquisition mechanism,and seed planting mechanism;Propose a sugarcane seed orientation control method based on visual servo technology to achieve precise automatic control of the sugarcane seed orientation process;Based on the control requirements,determine the control plan for the sugarcane seed conveying mechanism,sugarcane seed adjustment device,and image acquisition mechanism,propose an overall plan for the directional control system based on the combination of electromechanical transmission,and clarify the specific workflow of the system.(2)A control scheme based on adaptive fuzzy PID algorithm is proposed for the seed picking step positioning control of the directional adjustment device.Based on Matlab/Simulink simulation platform modeling,conduct comparative analysis of system dynamics,anti-interference,and robustness performance simulation under the action of PID controller and adaptive fuzzy PID controller.The results show that under the action of step signals,the rise time and adjustment time required for adaptive fuzzy PID control are reduced by 61.7% and 68.1%,respectively,compared to PID control;After adding disturbance signals,adaptive fuzzy PID control exhibits good anti-interference ability.After disturbance removal,it only takes 0.013 seconds to return to steady state,and PID control has a slight steady-state error after returning to steady state;After increasing the back electromotive force coefficient and moment of inertia of the transfer function of the stepper motor by 30% respectively,the overshoot of the system under adaptive fuzzy PID control only increased by 2.4% and 7.3%,which is much lower than the 21.6% and 30% under PID control,indicating stronger robustness.(3)Design the software and hardware of the sugarcane seed planting directional control system,and complete the hardware physical selection,GPIO pin allocation,and circuit wiring diagram design based on the overall framework of the designed hardware system;Based on the Py Charm integrated IDE environment,use Python software to develop the main control program of the lower computer;Develop the upper computer human-machine interface using Qt Designer software based on Py Qt5 graphical interface library,and design various functional module programs for the control interface;(4)Build a sugarcane seed orientation test bench,conduct mechanical arm seed picking positioning accuracy test and automatic direction adjustment performance verification test.The experimental results of seed picking and positioning accuracy show that the optimal parameter combination to ensure the highest seed picking and positioning accuracy of the robotic arm and achieve precise and stable seed picking is: the control algorithm is adaptive fuzzy PID algorithm,the subdivision factor is 8,and the robotic arm’s movement distance is 200 mm.The results of the automatic direction adjustment performance verification test show that after the direction adjustment of 50 sugarcane seeds is completed through the direction adjustment device,47 sugarcane seeds are successfully adjusted,with a success rate of 94%.The system performance is good and can basically meet the requirements of intelligent directional planting of sugarcane seeds.