基于干扰观测器的直播机路径跟踪快速终端滑模控制

针对农田中存在不确定性干扰时,会导致建立的无人水稻直播机运动学模型精确度不高,从而使路径跟踪收敛时间长,跟踪效果较差等问题,提出由直播机运动学模型建立相应的非线性干扰观测器从而实现对不确定性复合干扰的精确观测。将观测到的干扰值补偿到运动学模型中以提高模型的精度,降低滑模控制的抖振。为了控制直播机沿指定路径作业并提高路径跟踪收敛时间,设计了一种快速终端滑模控制算法。基于李雅普诺夫判据检验了算法闭环系统的稳定性。使用Matlab/Simulink建立了农机运动学仿真模型,仿真结果表明,非线性干扰观测器能精确观测出系统的不确定性干扰。与不带干扰观测器的滑模控制算法相比,本文控制算法可有效减少收敛时间,抑制干扰带来的抖振。无人直播机水田作业实验表明,采用本文所提出的算法以1.2m/s的速度高效作业时,横向平均绝对偏差为0.0247m,均方差为0.0311m。并且转弯收敛速度快,无超调,路径跟踪精度满足实际作业要求。     

小麦精量播种机排种高精度检测系统设计与试验

为实现小麦精量播种机播种量的精准检测,基于电容传感器设计了一套高精度小麦种子粒数检测系统。研究了小麦种子以单粒形式下落和多粒同时下落两种方式下的电容与小麦种子数目之间的关系。对于小麦种子以单粒形式下落,提出用差分动态阈值法检测小麦种子数目,试验表明检测的最大相对误差为1. 54%;对于多粒小麦种子同时下落,排种轮转速从20 r/min到55 r/min,每增加5 r/min,分别建立小麦种子数目与电容积分值之间的最小二乘回归模型。试验结果表明,根据实际转速和速度最近原则选择相应的回归模型,该系统对不同的排种转速均具有较高的检测精度,相对误差介于-2. 16%～2. 23%之间。对于小麦精量播种机不同的排种模式或不同的排种速度,所设计的排种检测系统均有较高的检测精度。     

丝瓜自交系主要经济性状配合力及遗传参数分析

按双列杂交设计,用Griffing分析方法,对6个丝瓜自交系的10个主要经济性状的配合力及遗传参数进行分析.结果表明:各性状的一般配合力方差和特殊配合力方差均达到极显著水平.P3和P6自交系的综合性状较优,可在育种中直接利用;P3×P4等4个组合具有较强的杂种优势,有一定的增产潜力.在育种工作中,对丝瓜第1雌花节位等3个性状宜早代选择,而对可溶性糖含量等其它性状应进行晚代选择.     

水稻种绳直播机对地表不平度的动态响

为了探索水稻种绳直播机对地表不平度激励的适应性,进行了动态模拟试验.根据样机的结构特点,设计了由角位移传感器、数据采集卡和计算机等构成的地表不平度检测系统.检测了由旋耕形成的原始地表不平度和经过种绳直播机作业后形成的地表不平度,应用Matlab软件对信号进行了时域和频域分析.应用等同法建立了系统的传递函数,分析了系统的动态特性.研究结果表明,由种绳直播机和土壤等构成的土壤-机器系统是一个具有一阶惯性特征的线性系统.系统的响应速度、频带宽度和覆土厚度等性能指标能够满足农业技术要求.     

低温播种对春玉米出苗及苗期生理参数的影响

以金产5号为试验材料,在培养箱中进行盆栽模拟试验,设定5℃、7℃、9℃、11℃4个播种温度处理,测定出苗率和3叶期相关生理参数,研究金产5号最适播种温度。结果表明,5℃~9℃播种春玉米能够出苗,5℃播种出苗率偏低(86.42%),7℃~9℃播种出苗较好(89.38%~96.88%)。5℃、7℃、9℃处理的植株脯氨酸含量和还原糖含量显著高于11℃处理;5℃处理PEPC活性高于7℃、9℃、11℃处理;5℃、7℃处理的过氧化物酶活性显著高于9℃、11℃处理,可溶性蛋白含量随播种温度的降低而降低,说明土壤温度在7℃以上是金产5最适播种温度。     

利用SSR标记划分广西骨干玉米自交系的杂种优势群

利用SSR标记对广西骨干玉米自交系进行遗传多样性分析和杂种优势类群划分,60对标准引物在33份供试材料中共检测出233个等位基因,平均多态性信息量为0.77,自交系间平均遗传相似系数为0.49。研究结果表明,这些自交系来源广泛,且具有较好的遗传基础。按照UPGMA方法进行聚类分析,可以将33份玉米自交系分为Ⅰ和Ⅱ两个类群,Ⅰ类群可进一步划分为4个亚群。杂种优势模式可被简化为"A×B"模式,A群包括Ⅰ-Ⅰ亚群、Ⅰ-Ⅱ亚群和Ⅰ-Ⅲ亚群自交系,B群包括Ⅰ-Ⅳ亚群和第Ⅱ类群自交系。     

玉米自交系微小遗传差异对产量优势的贡献

对3个玉米自交系遗传差异不同的株系自交3代后株系间产量及相互间杂交优势进行分析。结果表明,同一自交系在遗传上存在微小差异的株系,产量水平及其产量构成因素仍然存在一定差异。自交系初始遗传差异越大,后代株系间的产量差异越大;初始单株遗传差异较小的两个玉米自交系昌7-2和郑58具有微小遗传差异株系间杂交组合的超中亲优势分别达到10.55%、4.77%,超高亲优势分别达到3.69%、3.94%。对杂交优势贡献主要来自行粒数,其次是千粒重。通过关联分析找出行粒数相关基因的SNP标记14个(-Log P4),千粒重相关基因的SNP标记3个(-Log P3)。在开放授粉的条件下,株系间微小遗传差异有利于提高亲本和杂交制种产量。     

Revisiting rice breeding methods – evaluating the use of rapid generation advance (RGA) for routine rice breeding

Rice production needs to increase in the future in order to meet increasing demands. The development of new improved and higher yielding varieties more quickly will be needed to meet this demand. However, most rice breeding programmes in the world have not changed in several decades. In this article, we revisit the evidence in favour of using rapid generation advance (RGA) as a routine breeding method. We describe preliminary activities at the International Rice Research Institute (IRRI) to re-establish RGA on a large scale as the main breeding method for irrigated rice breeding. We also describe experiences from the early adoption at the Bangladesh Rice Research Institute. Evaluation of RGA breeding lines at IRRI for yield, flowering time and plant height indicated transgressive segregation for all traits. Some RGA lines were also higher yielding than the check varieties. The cost advantages of using RGA compared to the pedigree method were also empirically determined by performing an economic analysis. This indicated that RGA is several times more cost effective and advantages will be realized after 1 year even if facilities need to be built. Based on our experience, and previous independent research empirically testing the RGA method in rice, we recommend that this method should be implemented for routine rice breeding in order to improve breeding efficiency.     

Analysis of residuals for stability assessment of rice genotypes

The analysis of residuals computes general adaptabilities (GAs) and specific adaptabilities (SAs) of genotypes similar to combining ability analysis. The residual analysis is simple and robust being based on the first-degree statistics, and is assumption-free. A unique statistic of ratio of variances (VR) of residuals for individual genotypes allows comparing their stability. The residuals analysis of genotype × environment (GE) interactions was performed for grain yield (t ha^?1) of 25 rice (Oryza sativa L.) genotypes, including two developed by marker-assisted selection for root traits quantitative trait loci (QTL), tested across 16 sites. Results were compared with the linear regression analysis for (i) full set of 16 sites showing adequacy of linear model and (ii) subset of nine-poor sites showing inadequacy of linear model. There was agreement between the two analyses for situation (i) but not for situation (ii) when the regression analysis fails because of nonlinearity but the residual analysis retains its validity.     

从不同源杂交种选育玉米二环系的配合力研究

在玉米育种中以GCA,SCA为指标选择玉米二环系的源杂交种作为基础材料来选系,从而选择优良的玉米自交系和杂交组合,本研究结果表明,这种选育玉米自交系的方法是可行和有效的.