| With the continuous advancement of China’s agricultural modernization,rice transplanter,as an essential machine for rice mechanized planting,is gradually developing towards high speed and intelligent direction.The function of the levelling control system of the transplanter is to maintain the level of the transplanting part and keep the same depth of the seedlings on both sides in the transplanting operation of the transplanter,which is very important to improve the survival rate of seedlings and the consistency of green.The excellent performance of the levelling control system directly affects the transplanting effect of the transplanter.This paper raises the overall design,the flat control system determined the leveling controller and DC motor control system as the core of technical route,completed the leveling controller hardware development,including the design of the circuit principle diagram,PCB drawing,machining and welding and debugging work,involved in the selection of DC motor and sensor parts.Based on the analysis of the movement law of the insertion part in the leveling process,the fuzzy PID control algorithm established to realize the optimal control of the insertion part.Based on ADAMS/View,the dynamic model of transplanting part of transplanter was established,including seedling box and spring.The DC motor model of the leveling control system was established in MATLAB/Simulink.The control effect of the proposed control algorithm was simulated and analyzed by means of co-simulation.Through the function analysis of the leveling control system,the software system of the leveling controller was developed from both the bottom layer and the application layer.At the bottom of the leveling control system,the single-chip microcomputer driver code was written by hand.The application layer used model-based design method to complete the modeling of each functional module of the leveling control system.The automatic code generation technology was used to generate the code of the application layer model of the leveling control system.Integrate low-level code and application-layer code in the Code Warrior development environment.After MIL and SIL tests were carried out on the application layer model of the leveling controller,the leveling controller was connected to the electrical system of the rice transplanter for real vehicle test.Firstly,the function of the leveling control system was tested in the trial production workshop,and then the paddy field test was carried out.The paddy field test shows that the leveling control system has high reliability,and the leveling effect of the planting part of the transplanter reaches the expected goal and meets the design requirements. |
