| 摘要: |
| 【目的】针对膜下马铃薯种植破膜过程中劳动强度大、人工成本高的问题 ，设计了一种履带式马铃薯自动放苗机行走装置。【方法】基于履带行走特性，建立了履带式底盘运动学模型和差速转向模型，并结合农艺要求对关键部件的结构参数进行设计。提出一种以导航距离和导航角为输入、履带速度差为输出的模糊控制导航算法，用于实现放苗机的精准路径跟踪与稳定作业，通过整机行驶性能测试及田间试验对所设计行走装置的性能进行验证。【结果】行走装置的最大实际速度达到1.11 m/s，平均偏驶率为1.62%，随着作业速度由0.3 m/s提升至0.5 m/s，横向偏差及其标准差均有所增大，导航稳定性有所下降，其中0.5 m/s工况下最大横向偏差为108 mm，标准差为41.13 mm；放苗机以0.3 m/s的速度在不同初始位置进行导航时，放苗机能够在较短的距离内趋于稳定，系统稳定后的横向偏差不超过70 mm，标准差不超过37 mm。【结论】设计的履带式马铃薯自动放苗机行走装置具备较强的稳定性和较高的导航精度，能够满足马铃薯自动放苗作业的实际需求。 |
| 关键词: 马铃薯 自动放苗机行走装置 双电机履带底盘 模糊 PID |
| DOI：10. 13207/j. jnwafu. 2026. 10. 018 |
| 分类号: |
| 基金项目:陕西省重点研发计划项目（2024NC-YBXM-202，2024NC-YBXM-244） |
|
| Design and experiment of walking device for self⁃propelled potato seedling planter |
|
PANG Shujie1, MA Mengliang2, MA Zhuanghong2, ZHANG Junchang2,3,4, CHEN Yu2
|
|
1.Chinese Academy of Agricultural Mechanization Sciences Group Co. ，Ltd. ，Beijing 100083，China;2.College of Mechanical and Electronic Engineering，Northwest A&F University，Yangling，Shaanxi 712100，China;3.Shaanxi Engineering Research Center for Agricultural Equipment，Yangling，Shaanxi 712100，China;4.Scientific Research Base for Conservation Tillage Mechanization （Yellow River Basin）of Ministry of Agriculture and Rural Affairs，Yangling，Shaanxi 712100，China
|
| Abstract: |
| 【Objective】Aiming at the issues of high labor intensity and cost in the film-breaking process for potato planting under the film，a crawler-type walking device for an automatic potato seedling planter was designed.【Method】Based on the operational characteristics of the track，the kinematic model and differential steering models of the track chassis were established，and the structural parameters of the key components were designed according to the requirements of agronomy. A fuzzy-control navigation algorithm was proposed，using navigation distance and navigation angle as inputs and track speed difference as output，to enable precise path tracking and stable operation of the seedling planter. The designed walking device was validatd through the driving performance tests of the whole machine and field experiments.【Result】The maximum actual speed of the walking device reached 1.11 m/s，with an average deviation rate of 1.62%. As the operating speed increased from 0.3 to 0.5 m/s，both the lateral deviation and its corresponding standard deviation increased，indicating a reduction in navigation stability. Specifically，the maximum lateral deviation under the 0. 5 m/s operating condition was 108 mm，with a standard deviation of 41. 13 mm. When operating from different initial positions at a speed of 0.3 m/s，the seedling planter stabilized within a relatively short distance. After stabilization，the lateral deviation of the system remained below 70 mm，with a standard deviation not exceeding 37 mm.【Conclusion】The designed crawler-type walking device for the automatic potato seedling planter exhibits strong stability and high navigation accuracy，meeting the practical requirements for automatic potato seedling placement operations. |
| Key words: potato automatic seedling planter walking device dual-motor tracked chassis fuzzy PID control |
