Study On The Walking Control System Of Sunflower Planting Machinery

Most of the arable land in Bayannur City,Inner Mongolia Autonomous Region is saline,and most of the crops cannot survive.Sunflowers have the characteristics of salt alkali resistance and drought resistance,making them one of the important crops in the local area.High salinity is not conducive to the growth of sunflower seedlings.Before sowing,a lot of water is needed to reduce alkali,and after alkali reduction,the soil is muddy and slippery,so sunflower planting machinery is easy to slip when working,which reduces the quality of work and production efficiency.Working in a high saline environment is also harmful to human body,causing discomfort to the skin,respiratory system and digestive system.In this thesis,a walking control system of sunflower planting machinery is designed to address the above problems.1.The overall requirements of the system were analyzed based on the working environment of the planting machinery,and the overall architecture of the system was established.Performed kinematic and dynamic analysis of the sunflower planting machinery in the global coordinate system.Established the kinematic equations and explored the feasibility of electrifying the walking mechanism of the seeding machine.2.The motion control system of the lower computer was built,and the motion state of the sowing machine was monitored in real time by Hall encoder and IMU sensor module,which laid the data foundation for the development of intelligent functions.The definition of data packet for communication with the upper computer was completed,and the communication method was standardized.The PID control algorithm was used in the study of the motion control of the sowing machine to realize the millisecond control of the motor speed.3.The development of the upper computer was completed.A high-performance embedded Linux system was selected to address the weaknesses of single-chip performance,difficult concurrent operations,and difficult networking.Two types of embedded streaming video monitoring functions were developed,enabling the system to have remote monitoring capabilities.The vehicle posture solution of the planting machinery was completed based on the data from the lower computer sensors,and a motion correction function was developed to achieve more accurate control of the planting machinery’s motion.A 2.4G WIFI module was used to develop a LAN communication function,and a matching remote control software was developed based on the Harmony OS system,realizing real-time video monitoring,remote sensing control,body sensing control,and display of planting machine running information.4.Technical tests were carried out by model vehicles,and the test results showed that this system operated stably and controlled precisely when tested in a saline test field.