无人机点射式水稻播种装置控制系统设计与试验

针对当前无人机水稻撒播难以成行成穴、落种易受旋翼风场干扰和播种均匀性不佳等问题，该研究结合点射式水稻播种装置和飞行控制器设计了一套播种控制系统，开发了配套的地面站功能，并制作了样机。控制系统基于PID算法实现排种器步进电机的转速闭环控制，通过标定模型对振动电机激振力和摩擦轮电机转速进行控制，并根据状态机设计播种控制程序。以3倍丸粒化稻种为对象，从播种量准确性、播种成行性和播种均匀性3个方面对样机的播种性能进行验证并优选合适的播种参数。试验结果表明：无人机模拟飞行的播种量准确性测试中，样机以1.0～2.5 m/s的作业速度进行播种时，播种量的平均相对误差小于4%，控制系统具有较好的动态调节能力。实地飞播测试中，样机以1.0和1.5 m的高度播种时，种子分布在12 cm种行宽度内的平均概率超过80%，成行性较好。考虑安全因素，优选1.5 m为样机的适宜作业高度。在作业高度为1.5 m，3倍丸粒化稻种的播种量为90～150 kg/hm2（对应裸种的播种量22.5～37.5 kg/hm2），作业速度为0.5～2.0 m/s时，播种均匀性变异系数为20.51%～35.52%。进一步分析发现，适当提升作业速度可提高播种均匀性。田间试验结果表明，播种量的相对误差分别为2.47%和4.12%，播种均匀性变异系数分别为22.17%和21.82%，种子破损率分别为0.34%和0.18%，满足相关标准的水稻飞播精度控制要求。研究结果可为无人机水稻直播技术提供参考。

Control system design and experiments of UAV shot seeding device for rice

Abstract: Unmanned aerial vehicles (UAVs) have been widely used in rice direct seeding in recent years, due to the flexibility and high efficiency suitable for the terrain. Among them, UAV broadcast sowing has been one of the most UAV rice direct seeding, particularly with better seeding uniformity and work efficiency, compared with manual seeding. The broadcast sowing device can also be divided into the centrifugal disc and pneumatic types in China at present. However, the UAV broadcast sowing is easily affected by the rotor wind field, leading to uneven seeding. At the same time, the effect of seeding in the rows and holes can also result in air permeability and occurrence of diseases during the growth of rice in field management. In this study, a control system was designed for the rice shot seeding device in a flight controller order, in order to improve the uniformity and the accuracy of the seeding rate during UAV rice direct seeding. A UAV ground station function was also established to develop the experimental prototype. A closed-loop control was realized in the speed of the stepping motor using the Proportion Integral Derivative (PID). The calibration was then conducted to evaluate the excitation force of the vibration motor and the speed of the friction wheel motor. Finally, the seeding control program was designed to control the whole process of rice shot seeding using a Finite State Machine. The control functions included operation route planning, seeding rate calibration, parameter setting, seed remaining quantity display, and automatic seeding, in order to more easily realize the automatic operation of rice direct seeding. Taking three-fold pelleted rice seeds as the seeding objects, the seeding performance of the prototype was verified from three aspects: the accuracy of the seeding rate, the row effect, and seeding uniformity. The results showed that the average relative error of the seeding rate was less than 4% when the prototype flew at the speed of 1.0-2.5 m/s under the simulation. An excellent performance was achieved in the dynamic adjustment for the seeding control system, particularly with the relatively accurate seeding rate. Specifically, the average probability of seeds was 75.18% within the seed row width of 15 cm, when the prototype was seeding at the height of 2.0 m. By contrast, the average probability of seeds was higher than 80% within the seed row width of 12 cm, when the prototype seeding at the height of 1.0 and 1.5 m, indicating the better performance of the seeding row. Correspondingly, the working height of 1.5 m was preferred, in terms of safety. The average Coefficient of Variation (CV) of seeding uniformity was 20.51%-35.52% when the prototype worked at the height of 1.5 m with a speed of 0.5-2.0 m/s, and the seeding rate of three-fold pelleted rice seed of 90-150 kg/hm2 (corresponding to the seeding rate of naked seeds was 22.5-37.5 kg/hm2). It infers that the working speed greatly contributed to the seeding uniformity. Two field experiments were carried out, according to the preferred seeding parameters, where the relative errors of the seeding rate were 2.47% and 4.12%, respectively, the seeding uniformity CV values were 22.17% and 21.82%, respectively, and the seed breakage rates were 0.34% and 0.18%, respectively. The seeding control system fully met the control accuracy requirements of UAV rice direct seeding, according to the standard Technical specification of quality evaluation for the aerial broadcast seeder by remote control (standard NY/T 3881-2021). This finding can provide a strong reference for the UAV rice direct seeding.