Design And Analysis Of Control System Of Automatic Vegetable Transplanting Machine

At this stage,semi-automatic transplanting machinery is mainly use to transplant Vegetables in China.It is necessary to cast seedlings by labor,but low efficiency.The fully automation of the transplanting machine can solve the main problems that semi-automatic transplanting don’t accomplish,such as timely feeding,lack of efficiency and labor.No doubt the fully automation of the transplanting machine is the important direction of the future development of transplanting.At present,the domestic automatic transplanting machinery mainly rely on imported and imitated foreign models,the control system of common automated transplanting machine in marker apply mechanism,mechanical transmission to achieve motion control.How to realize the intelligent of our transplanting operation.The key problem is how to realize the transformation of the semi-automatic transplanting machine to the automatic transplanting machinery,which requires a matching control system to complete the manual operation process.It is not only suitable for China’s plug seedling technology but also to meet the dry land and greenhouse transplanting requirements.Therefore,this paper aims is research a control system of the new self-propelled Vegetable transplanting,with electricity,gas combined control system,Complete the seedlings,take seedlings,sub-seedlings planted throughout the automatic control and Conduct the test analysis.The main research contents include:(1)According to the characteristics of the control system of the transplanting machine,the paper analyzes the characteristics of the control system of the transplanting machine,Compared with the characteristics of automatic control of foreign transplanting machine,according to China’s national conditions to determine the self-propelled Vegetable plug seedlings transplant machine mechanical structure.Analysis of the object(new self-propelled transplanting machine)structural characteristics,a clear function of the various parts of the action.And according to the module to determine the control requirements of each module,according to the coupling relationship between the modules to determine the overall control requirements,gettransplant work flow and timing relationship.Put forward the overall control program,late refinement improvement.(2)Design and experiment of control scheme of the supply of seedlings.To determine the interval to take seedlings program,planning "几" font shift hole for the seedlings line to save the driving force.Select the double acting cylinder to drive the pan to the lateral displacement,the stepper motor drives the longitudinal displacement.In order to achieve precision control of different specifications of the disk to prevent the bar,for the size of the difference and into the disk speed delay compensation.While the establishment of PID displacement feedback control system,the use of encoder to detect the actual shift distance,Through the simulation set to determine the adjustment parameters:K_P=27、K_I=5、K_D using PLC to achieve the feedback difference setting,and the results on the motor output pulse,improve the actual shift down the accuracy of the seedlings.The main factors influencing the precision of the displacement of the plug are: the working speed,the starting frequency and the acceleration time.Design three factors mixed level orthogonal test,test the test hole in the distance each time.It is concluded that the working speed has a significant effect on the test data.(3)Design and testing of control program of taking seedlings,casting seedlings.In this paper,the movement trajectories of the seedlings were simulated and analyzed according to the trajectory of the trajectories of the seedlings.The time point corresponds to the cylinder stroke position.(4)A constant position of the cast seedlings control mode was proposed in paper for Continuous movement cast seedling institutions by the encoder and photoelectric diffuse reflection sensor.Taking into account the horizontal movement distance of the process of falling,In order to achieve half of the bowl seedlings into the cup in the center line and Cup center line coincides with the state of the seedlings.According to the linear coupling relationship between the seedling position and the seedling speed(transplantingfrequency),the speed adaptive seedling control system was established.According to the seedling speed,the planting frequency was 40,50,60,70(Strain / min / line),the corresponding pulse time pulse.(5)The hardware and software design of control system.Can be PLC programming controller,signal detection sensors,encoders and other components for selection.According to the component power supply design power module,complete the electrical component circuit diagram planning,control system program flow,programming PLC program and try to improve.(6)self-propelled transplanting machine control system performance test.In the planting frequency of 40,50,60,70 plants / min / line planting frequency 72 hole plug and 128 holes for field transplanting experiments,statistics of each test to take seedlings,the success rate of seedling and calculate the calculation Overall feeding success rate.The results showed that the control system of the self-propelled Vegetable plugging machine was able to complete the whole transplanting process smoothly and smoothly,and the system could achieve the success rate of 70 / min / line Rate of 96.02%.