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本文研究了一种基于PID的排种器电驱控制系统,取消了播种机采用地轮和链条驱动的方式,提高了播种机的播种质量和作业速度。采用PID算法控制排种盘转速,在目标转速与当前转速差异较大时,加入PID积分分离算法,以减少转速的超调量。通过整定后的PID参数为:K_p=16、K_i=0.05、K_d=36,在其排种盘转速范围为0~24 r/min时,响应时间、超调量、稳态误差分别为0.4秒,1.56%和0.75%。试验结果表明,在12 km/h的高速播种作业条件下,采用该电驱控制系统的排种器排种单粒率仍然可达到98.4%,其重播率和漏播率小于1%。采用本文研究的基于PID算法的排种控制系统可以获得良好的排种质量和更高的排种速度,使排种器更适宜高速精量播种。
In this paper, a kind of electric drive control system based on PID for seed metering device is studied, which eliminates the way of the planter driven by the ground wheel and the chain and improves the sowing quality and working speed of the seeder. Adopting PID algorithm to control the speed of seed plate, adding PID integral separation algorithm when the difference between target speed and current speed is great, so as to reduce overshoot of speed. The tuning PID parameters are: K_p = 16, K_i = 0.05, K_d = 36. The response time, overshoot and steady-state error are 0.4 second when the speed of seed plate is 0 ~ 24 r / min , 1.56% and 0.75% respectively. The test results showed that under the conditions of high speed sowing of 12 km / h, the seed metering rate of the seed metering device using this electric drive control system can still reach 98.4%, and the replay rate and the rate of leakage rate are less than 1%. The seed-based control system based on PID algorithm, which is researched in this paper, can achieve good seed-setting quality and higher seed-setting speed, making the seed-dressing machine more suitable for high-speed precision seed sowing.