【摘要】：精準(zhǔn)農(nóng)業(yè)是現(xiàn)代農(nóng)業(yè)發(fā)展的必然趨勢(shì),并已在我國(guó)取得了較為顯著的經(jīng)濟(jì)效益與社會(huì)效益。變量施肥是精準(zhǔn)農(nóng)業(yè)重點(diǎn)研究的領(lǐng)域之一,變量施肥技術(shù)是以不同空間單元的目標(biāo)產(chǎn)量與土壤理化性質(zhì)等為依據(jù)進(jìn)行綜合測(cè)算分析,結(jié)合營(yíng)養(yǎng)專家系統(tǒng)、作物生長(zhǎng)模型進(jìn)行施肥量決策,指導(dǎo)變量施肥機(jī)進(jìn)行田間網(wǎng)格差異性施肥,而變量施肥機(jī)是變量施肥技術(shù)的基礎(chǔ)和載體,同時(shí)變量施肥機(jī)的排肥控制系統(tǒng)又是實(shí)現(xiàn)變量施肥系統(tǒng)的重要組成部分,是實(shí)現(xiàn)精準(zhǔn)變量施肥的關(guān)鍵。因此,綜合考慮國(guó)內(nèi)外變量施肥機(jī)及施肥控制系統(tǒng)現(xiàn)狀與發(fā)展趨勢(shì)的基礎(chǔ)上,提出了一種基于上位工控機(jī)下位單片機(jī)的電控液壓傳動(dòng)閉環(huán)雙變量施肥控制系統(tǒng),同時(shí)考慮到系統(tǒng)的可靠性及信號(hào)完整性,本文將系統(tǒng)從硬件上劃分為液壓傳動(dòng)系統(tǒng)、基于工控機(jī)的上位主控系統(tǒng)、基于STC單片機(jī)下位控制系統(tǒng)以及GPS/DGPS定位系統(tǒng)四塊相互獨(dú)立的部分來設(shè)計(jì)。為了實(shí)現(xiàn)對(duì)排肥主軸轉(zhuǎn)速的無極調(diào)節(jié),實(shí)現(xiàn)精準(zhǔn)變量施肥,設(shè)計(jì)了雙變量液壓無級(jí)調(diào)速變量施肥系統(tǒng),以液壓油路的穩(wěn)定性和排肥槽輪機(jī)構(gòu)驅(qū)動(dòng)控制方法為研究重點(diǎn),并在液壓油路中設(shè)置了液壓穩(wěn)壓環(huán)節(jié)和液壓壓力傳感器,實(shí)現(xiàn)更好的控制施肥精度�；诠た貦C(jī)的上位主控系統(tǒng)是施肥決策的主控制系統(tǒng),上位工控機(jī)可以提供良好的人機(jī)交互界面及高效的數(shù)據(jù)運(yùn)算。研究主要內(nèi)容是通過對(duì)圖形化的人機(jī)交互界面進(jìn)行設(shè)計(jì),實(shí)時(shí)獲取數(shù)據(jù)庫(kù)中施肥處方信息和DGPS/GPS模塊數(shù)據(jù)信息,并對(duì)數(shù)據(jù)進(jìn)行管理與解析,實(shí)現(xiàn)排肥軸轉(zhuǎn)速與開度閉環(huán)控制等,目的是便于控制系統(tǒng)進(jìn)行氮肥、磷肥及鉀肥(N、P、K)等營(yíng)養(yǎng)元素的自動(dòng)配比施肥,并將施肥配比與控制信號(hào)發(fā)送給下位控制系統(tǒng)�；赟TC單片機(jī)下位控制系統(tǒng)重點(diǎn)研究利用AD轉(zhuǎn)換將上位給定的施肥量信息轉(zhuǎn)化為電液比例調(diào)速閥和開度電磁閥所需的控制信號(hào),該系統(tǒng)的設(shè)計(jì)主要是基于PCA轉(zhuǎn)速測(cè)控系統(tǒng),利用PCA脈沖捕獲的高速度和高可靠性,采集變量施肥機(jī)行駛速度,實(shí)時(shí)的將拖拉機(jī)的速度通過串口總線發(fā)給基于工控機(jī)的上位機(jī)主控系統(tǒng),用于實(shí)時(shí)的施肥閉環(huán)控制。GPS/DGPS定位系統(tǒng)設(shè)計(jì)主要研究重點(diǎn)通過GPS/DGPS定位模塊獲取當(dāng)前機(jī)具位置信息,利用串口將定位數(shù)據(jù)發(fā)送到上位主控制系統(tǒng),使上位控制系統(tǒng)從數(shù)據(jù)庫(kù)中獲取該位置下的處方施肥信息。為了使施肥決策系統(tǒng)得到精確的施肥量,本文通過試驗(yàn)建立了排肥量與排肥軸轉(zhuǎn)速、開度的函數(shù)關(guān)系,建立了外槽輪排肥器每轉(zhuǎn)排肥量Q數(shù)學(xué)的模型、液壓驅(qū)動(dòng)馬達(dá)轉(zhuǎn)速與給定信號(hào)的數(shù)學(xué)模型及變量施肥機(jī)Q=F(L,N,V)數(shù)學(xué)控制模型,并得出了影響變量施肥機(jī)排肥量的主次因素。最后,為了綜合驗(yàn)證本文所設(shè)計(jì)的變量施肥控制系統(tǒng)的性能,進(jìn)行了動(dòng)態(tài)條件下的排肥試驗(yàn)。試驗(yàn)結(jié)果表明:研制的變量施肥機(jī)工作穩(wěn)定、排肥可靠、具有較高的控制精度,滿足了系統(tǒng)的設(shè)計(jì)要求,為下一步開發(fā)大型自動(dòng)變量施肥機(jī)提供了理論和技術(shù)參考。本文研制的雙變量施肥機(jī)目前已通過專家組的驗(yàn)收。
[Abstract]:Precision agriculture is an inevitable trend of the development of modern agriculture, and has achieved remarkable economic and social benefits in our country. Variable fertilization is one of the most important fields in the research of precision agriculture, and the variable fertilization technique is based on the target yield of different space units and the physical and chemical properties of the soil, so as to combine the nutrition expert system and the crop growth model to make the fertilizer amount decision. The variable fertilizer applicator is the base and the carrier of the variable fertilization technology, and the fertilizer and fertilizer control system of the variable fertilizer applicator is an important part of the realization of the variable fertilization system, which is the key to realize the precise variable fertilization. Therefore, on the basis of considering the current situation and development trend of the variable fertilizer applicator and the fertilizer application control system at home and abroad, a closed-loop double-variable fertilization control system based on the lower computer of the upper computer is proposed, and the reliability and signal integrity of the system are also taken into account. In this paper, the system is divided into the hydraulic transmission system, the upper master control system based on the industrial personal computer, the lower control system based on the STC single chip and the four independent parts of the GPS/ DGPS positioning system. in order to realize the stepless regulation of the rotating speed of the fertilizer discharging main shaft, the precise variable fertilizer application is realized, the double-variable hydraulic stepless speed-regulating variable fertilization system is designed, the stability of the hydraulic oil path and the driving control method of the fertilizer discharging grooved pulley mechanism are taken as the research focus, and a hydraulic pressure stabilizing link and a hydraulic pressure sensor are arranged in the hydraulic oil path to achieve better control and fertilization precision. The main control system based on the industrial personal computer is the main control system of the fertilization decision, and the upper industrial personal computer can provide good man-machine interaction interface and high-efficiency data operation. The main contents of the study are to design the graphical human-computer interaction interface, to obtain the fertilizer prescription information and the DGPS/ GPS module data information in the database in real time, to manage and analyze the data, to realize the closed-loop control of the rotation speed of the fertilizer discharge shaft and the opening degree, and the like, and aims to facilitate the control system to carry out nitrogen fertilizer, the fertilizer and the potassium fertilizer (N, P, K) are used for automatic proportioning and fertilization, and the fertilization proportion and the control signal are sent to the lower control system. Based on the key research of the lower control system of the STC single-chip computer, the application of AD conversion is used to convert the information of the fertilizer amount given by the upper computer into the control signal needed by the electro-hydraulic proportional speed-regulating valve and the opening-degree electromagnetic valve, the high speed and the high reliability of the PCA pulse capture are utilized, the driving speed of the variable fertilizer applicator is acquired, and the speed of the tractor is distributed to the main control system of the upper computer based on the industrial personal computer through the serial port bus in real time, and is used for real-time fertilization closed-loop control. The main research of the design of the GPS/ DGPS positioning system is to acquire the position information of the current implement through the GPS/ DGPS positioning module, and send the position data to the upper master control system by using the serial port, so that the upper control system acquires the prescription fertilization information in the position from the database. In order to get the accurate fertilizer application of the fertilization decision-making system, this paper establishes a mathematical model of the Q-mathematical model of the amount of fertilizer per revolution of the outer-sheave fertilizer-discharging device by establishing a function relation between the quantity of the fertilizer and the rotation speed and the opening degree of the fertilizer-discharging shaft. The mathematical model of the rotational speed of the hydraulic drive motor and the given signal and the mathematical control model of the variable fertilizer applicator Q = F (L, N, V) are given, and the primary and secondary factors that affect the amount of fertilizer discharge of the variable fertilizer applicator are obtained. Finally, in order to comprehensively verify the performance of the variable fertilization control system designed in this paper, the test of the fertilizer discharge under the dynamic condition is carried out. The results of the test show that the variable fertilizer applicator is stable and reliable, has high control precision, meets the design requirement of the system, and provides the theoretical and technical reference for the next development of the large-scale automatic variable fertilizer applicator. The double-variable fertilizer applicator developed in this paper has been accepted by the expert group.
【學(xué)位授予單位】：石河子大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：S224.2

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