Design and Analysis of a Sowing Depth Detection and Control Device for a Wheat Row Planter Based on Fuzzy PID and Multi-Sensor Fusion
文献类型： 外文期刊
作者： Li, Yueyue 1 ; Qi, Bing 1 ; Bao, Encai 2 ; Tang, Zhong 2 ; Lian, Yi 4 ; Sun, Meiyan 4 ;
作者机构： 1.Minist Agr & Rural Affairs, Nanjing Inst Agr Mechanizat, Key Lab Modern Agr Equipment, Nanjing 210014, Peoples R China
2.Jiangsu Univ, Sch Agr Engn, Zhenjiang 212013, Peoples R China
3.Jiangsu Acad Agr Sci, Inst Agr Facil & Equipment, Agr Minist Key Lab Agr Engn Middle & Lower Reaches, Nanjing 210014, Peoples R China
4.Jiangsu Shipping Coll, Coll Transportat Engn, Nantong 226010, Peoples R China
关键词： drill seeder; sowing depth; fuzzy PID; sensors
期刊名称：AGRONOMY-BASEL （ 影响因子：3.4； 五年影响因子：3.8 ）
ISSN：
年卷期： 2025 年 15 卷 6 期
页码：
收录情况： SCI
摘要： A bench test apparatus was developed to address the impact of varying terrain undulation on sowing depth in multi-row wheat sowing machines. In addition, a real-time sowing depth control model was proposed and implemented, enabling automatic adjustment of the sowing depth and ensuring uniform seed placement. The model operates by first specifying a target sowing depth, then acquiring real-time sowing depth measurements via a laser range sensor and terrain feature data ahead of the machine via an array-based LiDAR sensor. These two data streams undergo multi-sensor fusion to produce an accurate error and error rate. A fuzzy PID control algorithm then performs online parameter tuning of the PID gains, generating the control output needed to drive the stepper motor and adjust the depth-limiting wheel height, thereby precisely regulating the sowing depth. Experimental results demonstrate that under representative test conditions, the system achieves excellent sowing depth control performance; average error reductions of 10.7%, 22.9%, and 9.6% were observed when using fuzzy PID control versus no control. This work provides a technical foundation for intelligent sowing depth control in wheat sowing machines and lays the groundwork for future in-field adaptive operation and multi-scenario integrated control.
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