小麦种行肥行精准拟合变量施肥控制系统研究
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摘要
针对黄淮海地区化肥施用过量和肥料利用率低的问题,基于GNSS拖拉机自动导航技术和液压控制技术,提出一种小麦种行、肥行精准拟合的新模式,设计了一种小麦种肥精准拟合变量施肥控制系统。通过安装在拖拉机上的自动导航系统进行施肥作业,记录导航线和施肥作业轨迹,根据机具幅宽和肥(种)管位置分布,对施肥导航线进行平移,从而完成导航播种作业,同时记录播种导航线和播种作业轨迹,实现种行、肥行精准对行作业。小麦种行、肥行精准拟合变量施肥控制系统可以根据用户设置的目标施肥量,实时计算液压电动机目标转速,同步将目标转速指令发送给施肥控制器,控制器根据光电编码器反馈的电动机转速信号,调节电液比例阀开度,进而驱动液压电动机带动排肥执行机构进行排肥,实现液压电动机转速的闭环控制,一次完成带施、旋耕、深层条施的同步变量施用。田间试验结果表明,种、肥精准对行误差最大为6 cm,误差在3 cm以内占90%以上,完全满足黄淮海地区宽窄行种植模式下的作业需求;浅层排肥量最大误差为2. 70%,变异系数最大为0. 05;深层排肥量最大误差为7. 95%,变异系数最大为0. 08,完全满足田间试验需要。田间试验设置常规施量、减量12%施肥二水平三重复,测产结果表明,与常规施肥3 900 kg/hm~2的产量相比,减量12%施肥的产量达到3 945 kg/hm~2。
In order to improve the situation of excessive use of fertilizer and low utilization of fertilizer,a variable rate fertilization control system based on matching fertilizer line and seed line was designed.The system was composed of four modules, including electric control module, hydraulic module,mechanical module and vehicle terminal. Firstly,automatic navigation system installed on the tractor was used for navigation fertilization and navigation sowing. According to the width of the mechanism and the location of the fertilizer( seed) tube,the navigation line was shifted to match seed fertilizer line,accurately. Subsequently,according to the target value,the actual rotation speed would be determined automatically by the corresponding strategy. The experiment results showed that the field matching error was within 6 cm and more than 90% of the data points were within 3 cm. The results of field experiment showed that the errors of the fertilizer value were less than 2. 70% and the variation coefficient was less than 0. 05 at the shallow layer. The errors of the fertilizer value were less than 7. 95% and the variation coefficient was less than 0. 08 at the deep layer. In the field experiment,traditional fertilizer application zone and reduction of 12% zone were set. The corresponding yield were 3 900 kg/hm~2 and 3 945 kg/hm~2 in 2018. Compared with the traditional fertilizer application,the yield of reduction of 12% zone had no significant difference. The variable rate fertilization control system based on matching fertilizer line and seed line provided a new method to reduce the excessive uses of fertilizer for wheat growth.
In order to improve the situation of excessive use of fertilizer and low utilization of fertilizer,a variable rate fertilization control system based on matching fertilizer line and seed line was designed.The system was composed of four modules, including electric control module, hydraulic module,mechanical module and vehicle terminal. Firstly,automatic navigation system installed on the tractor was used for navigation fertilization and navigation sowing. According to the width of the mechanism and the location of the fertilizer( seed) tube,the navigation line was shifted to match seed fertilizer line,accurately. Subsequently,according to the target value,the actual rotation speed would be determined automatically by the corresponding strategy. The experiment results showed that the field matching error was within 6 cm and more than 90% of the data points were within 3 cm. The results of field experiment showed that the errors of the fertilizer value were less than 2. 70% and the variation coefficient was less than 0. 05 at the shallow layer. The errors of the fertilizer value were less than 7. 95% and the variation coefficient was less than 0. 08 at the deep layer. In the field experiment,traditional fertilizer application zone and reduction of 12% zone were set. The corresponding yield were 3 900 kg/hm~2 and 3 945 kg/hm~2 in 2018. Compared with the traditional fertilizer application,the yield of reduction of 12% zone had no significant difference. The variable rate fertilization control system based on matching fertilizer line and seed line provided a new method to reduce the excessive uses of fertilizer for wheat growth.
引文
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[12]陈满,施印炎,汪小旵,等.基于光谱探测的小麦精准追肥机设计与试验[J].农业机械学报,2015,46(5):26-32.CHEN Man,SHI Yinyan,WANG Xiaochan,et al.Design and experiment of variable rate fertilizer applicator based on crop canopy spectral reflectance[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(5):26-32.(in Chinese)
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[14]梁春英,吕鹏,纪建伟,等.基于遗传算法的电液变量施肥控制系统PID参数优化[J].农业机械学报,2013,44(增刊1):89-93.LIANG Chunying,LPeng,JI Jianwei,et al.Optimization of PID parameters for electro-hydraulic variable rate fertilization system based on genetic algorithm[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(Supp.1):89-93.(in Chinese)
[15]CHATTHA H S,ZAMAN Q U,CHANG Y K,et al.Variable rate spreader for real-time spot-application of granular fertilizer in wild blueberry[J].Computers and Electronics in Agriculture,2014,100:70-78.
[16]MOUAZEN A M,KAROUI R,DE BAERDEMACKER J,et al.Characterization of soil water content using measured visible and near infrared spectra[J].Soil Science Society of American Journal,2006,70(4):1295-1302.
[17]TOLA E,KATAOKA T,BUREE M,et al.Granular fertilizer application rate control system with integrated output volume measurement[J].Biosystems Engineering,2008,101(4):411-416.
[18]张继成.基于处方图的变量施肥系统关键技术研究[D].哈尔滨:东北农业大学,2013.
[19]魏学礼.东北垄作玉米全要素变量施肥控制系统研发[D].北京:中国农业大学,2017.
[20]陈满,鲁伟,汪小旵,等.基于模糊PID的冬小麦变量追肥优化控制系统设计与试验[J].农业机械学报,2016,47(2):71-76.CHEN Man,LU Wei,WANG Xiaochan,et al.Design and experiment of optimization control system for variable fertilization in winter wheat field based on fuzzy PID[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(2):71-76.(in Chinese)
[21]冯慧敏,高娜娜,孟志军,等.基于自动导航的小麦精准对行深施追肥机设计与试验[J].农业机械学报,2018,49(4):60-67.FENG Huimin,GAO Na'na,MENG Zhijun,et al.Design and experiment of deep fertilizer applicator based on autonomous navigation for precise row-following[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(4):60-67.(in Chinese)
[22]安晓飞,付卫强,魏学礼,等.基于处方图的垄作玉米四要素变量施肥机作业效果评价[J].农业机械学报,2017,48(增刊):66-70.AN Xiaofei,FU Weiqiang,WEI Xueli,et al.Evaluation of four-element variable rate application of fertilization based on maps[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(Supp.):66-70.(in Chinese)
[23]祝清震,武广伟,罗长海,等.基于姿态实时监测的多路精准排肥播种控制系统研究[J].农业机械学报,2018,49(增刊):155-163.ZHU Qingzhen,WU Guangwei,LUO Changhai,et al.Design of multipath precision fertilizer and sowing control system based on attitude real time monitoring[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(Supp.):155-163.(in Chinese)
[2]杨丽,颜丙新,张东兴,等.玉米精密播种技术研究进展[J].农业机械学报,2016,47(11):38-48.YANG Li,YAN Bingxin,ZHANG Dongxing,et al.Research progress on precision planting technology of maize[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(11):38-48.(in Chinese)
[3]赵春江.对我国未来精准农业发展的思考[J].农业网络信息,2010(4):5-8.ZHAO Chunjiang.Strategy thinking on precision agriculture of China[J].Agriculture Network Information,2010(4):5-8.(in Chinese)
[4]孟志军,赵春江,刘卉,等.基于处方图的变量施肥作业系统设计与实现[J].江苏大学学报(自然科学版),2009,30(4):338-342.MENG Zhijun,ZHAO Chunjiang,LIU Hui,et al.Development and performance assessment of map-based variable rate granule application system[J].Journal of Jiangsu University(Natural Science Edition),2009,30(4):338-342.(in Chinese)
[5]付卫强,孟志军,黄文倩,等.基于CAN总线的变量施肥控制系统[J].农业工程学报,2008,24(增刊2):127-132.FU Weiqiang,MENG Zhijun,HUANG Wenqian,et al.Variable rate fertilizer control system based on CAN bus[J].Transactions of the CSAE,2008,24(Supp.2):127-132.(in Chinese)
[6]孟志军,赵春江,付卫强,等.变量施肥处方图识别与位置滞后修正方法[J].农业机械学报,2011,42(7):204-209.MENG Zhijun,ZHAO Chunjiang,FU Weiqiang,et al.Prescription map identification and position lag calibration method for variable rate application of fertilizer[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(7):204-209.(in Chinese)
[7]张书慧,马成林,吴才聪,等.一种精确农业自动变量施肥技术及其实施[J].农业工程学报,2003,19(1):129-131.ZHANG Shuhui,MA Chenglin,WU Caicong,et al.Development and application of a variable rate fertilizer applicator for precision agriculture[J].Transactions of the CSAE,2003,19(1):129-131.(in Chinese)
[8]余洪锋,丁永前,刘海涛,等.小田块变量施肥系统优化设计与应用[J].农业工程学报,2018,34(3):35-41.YU Hongfeng,DING Yongqian,LIU Haitao,et al.Optimization design and application of variable rate fertilization system for small-scaled fields[J].Transactions of CSAE,2018,34(3):35-41.(in Chinese)
[9]赵岩,陈学庚,郑炫,等.精准对行分层施肥技术研究[J].绿洲农业科学与工程,2016,2(3):25-29.ZHAO Yan,CHEN Xuegeng,ZHENG Xuan,et al.Research on accuracy layered fertilization technology[J].Oasis Agriculture Science and Engineering,2016,2(3):25-29.(in Chinese)
[10]MOLATUDI R L,MARIGA I K.The effect of maize seed size and depth of planting on seedling emergence and seedling vigour[J].Journal of Applied Sciences Research,2009,5(12):2234-2237.
[11]施印炎,陈满,汪小旵,等.稻麦精准变量施肥机排肥性能分析与试验[J].农业机械学报,2017,48(7):97-103.SHI Yinyan,CHEN Man,WANG Xiaochan,et al.Analysis and experiment of fertilizing performance for precision fertilizer applicator in rice and wheat fields[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(7):97-103.(in Chinese)
[12]陈满,施印炎,汪小旵,等.基于光谱探测的小麦精准追肥机设计与试验[J].农业机械学报,2015,46(5):26-32.CHEN Man,SHI Yinyan,WANG Xiaochan,et al.Design and experiment of variable rate fertilizer applicator based on crop canopy spectral reflectance[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(5):26-32.(in Chinese)
[13]宿宁.精准农业变量施肥控制技术研究[D].合肥:中国科学技术大学,2016.
[14]梁春英,吕鹏,纪建伟,等.基于遗传算法的电液变量施肥控制系统PID参数优化[J].农业机械学报,2013,44(增刊1):89-93.LIANG Chunying,LPeng,JI Jianwei,et al.Optimization of PID parameters for electro-hydraulic variable rate fertilization system based on genetic algorithm[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(Supp.1):89-93.(in Chinese)
[15]CHATTHA H S,ZAMAN Q U,CHANG Y K,et al.Variable rate spreader for real-time spot-application of granular fertilizer in wild blueberry[J].Computers and Electronics in Agriculture,2014,100:70-78.
[16]MOUAZEN A M,KAROUI R,DE BAERDEMACKER J,et al.Characterization of soil water content using measured visible and near infrared spectra[J].Soil Science Society of American Journal,2006,70(4):1295-1302.
[17]TOLA E,KATAOKA T,BUREE M,et al.Granular fertilizer application rate control system with integrated output volume measurement[J].Biosystems Engineering,2008,101(4):411-416.
[18]张继成.基于处方图的变量施肥系统关键技术研究[D].哈尔滨:东北农业大学,2013.
[19]魏学礼.东北垄作玉米全要素变量施肥控制系统研发[D].北京:中国农业大学,2017.
[20]陈满,鲁伟,汪小旵,等.基于模糊PID的冬小麦变量追肥优化控制系统设计与试验[J].农业机械学报,2016,47(2):71-76.CHEN Man,LU Wei,WANG Xiaochan,et al.Design and experiment of optimization control system for variable fertilization in winter wheat field based on fuzzy PID[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(2):71-76.(in Chinese)
[21]冯慧敏,高娜娜,孟志军,等.基于自动导航的小麦精准对行深施追肥机设计与试验[J].农业机械学报,2018,49(4):60-67.FENG Huimin,GAO Na'na,MENG Zhijun,et al.Design and experiment of deep fertilizer applicator based on autonomous navigation for precise row-following[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(4):60-67.(in Chinese)
[22]安晓飞,付卫强,魏学礼,等.基于处方图的垄作玉米四要素变量施肥机作业效果评价[J].农业机械学报,2017,48(增刊):66-70.AN Xiaofei,FU Weiqiang,WEI Xueli,et al.Evaluation of four-element variable rate application of fertilization based on maps[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(Supp.):66-70.(in Chinese)
[23]祝清震,武广伟,罗长海,等.基于姿态实时监测的多路精准排肥播种控制系统研究[J].农业机械学报,2018,49(增刊):155-163.ZHU Qingzhen,WU Guangwei,LUO Changhai,et al.Design of multipath precision fertilizer and sowing control system based on attitude real time monitoring[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(Supp.):155-163.(in Chinese)
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