Baiwei Wang

Bus-voltage fluctuations of unstabilized PTO-driven generators, together with pneumatic load variations, cause negative-pressure instability in electric-driven air-suction seeding fans, degrading seeding quality. This paper proposes a cascaded composite control strategy combining model reference adaptive control (MRAC) with voltage feedforward. Based on time-scale separation, the inner loop uses a PI controller with voltage feedforward for millisecond-level compensation of bus-voltage disturbances, while the outer loop employs output-feedback MRAC against time-varying chamber dynamics. The strategy was compared with PID, fuzzy PID, and cascaded MRAC without feedforward (CMRAC-NFF) through nonlinear simulations, bench tests, and cotton field trials. In nonlinear simulations, a 72-to-65 V voltage step induced a maximum negative-pressure deviation of −0.48 kPa with a 1.08 s recovery time; under combined voltage and seed-suction load disturbances in the simulation environment, the error standard deviation was 0.07 kPa. In bench tests, the mean absolute steady-state deviation remained within 0.12–0.16 kPa across the 7.0–10.0 kPa setpoints. In field tests, the proportion of time outside the ±0.3 kPa tolerance was reduced to 3.84%, with a qualified seeding rate of 96.24%. With feedforward rejecting supply disturbances and MRAC absorbing model uncertainty, the scheme sustained agronomic-grade pressure stability on a 12-row cotton seeder across tested 7.0–10.0 kPa setpoints.

The disadvantages of traditional strip fertilization technology for corn planting in China include low fertilizer utilization rates, unstable operation quality, and environmental pollution. Therefore, in this study, a synchronous hole fertilization device for corn planting based on real-time intelligent control is designed, aiming to reduce fertilizer application and increase efficiency through the precise alignment technology of the seed and fertilizer. This device integrates an electric drive precision seeding unit, a slot wheel hole fertilization unit, and a multi-sensor coordinated closed-loop control system. An STM32 single-chip micro-computer is used to dynamically analyze the seed–fertilizer timing signal, and a double closed-loop control strategy (the position loop priority is higher than the speed loop) is used to correct the spatial phase difference between the seed and fertilizer in real time to ensure the precise control of the longitudinal distance (40~70 mm) and the lateral distance (50~80 mm) of the seed and fertilizer. Through the Box–Behnken response surface method, a field multi-factor test was carried out to analyze the mechanism of influence of the implemented forward speed (A), per-hole target fertilizing amount (B), and plant spacing (fertilizer hole interval) (C) on the seed–fertilizer alignment qualification rate (Y₁) and the coefficient of variation in the hole fertilizing amount (Y₂). The results showed that the order of primary and secondary factors affecting Y₁ was A > C > B, and that the order affecting Y₂ was C > B > A; the comprehensive performance of the device was best with the optimal parameter combination of A = 4.2 km/h, B = 4.4 g, and C = 30 cm, with Y₁ as high as 94.024 ± 0.694% and Y₂ as low as 3.147 ± 0.058%, which is significantly better than the traditional strip application method. The device realizes the precise regulation of 2~6 g/hole by optimizing the structural parameters of the outer groove wheel (arc center distance of 25 mm, cross-sectional area of 201.02 mm², effective filling length of 2.73~8.19 mm), which can meet the differentiated agronomic needs of ordinary corn, silage corn, and popcorn. Field verification shows that the device significantly improves the spatial distribution of the concentration of fertilizer, effectively reduces the amount of fertilizer applied, and improves operational stability and reliability in multiple environments. This provides technical support for the regional application of precision agricultural equipment.

The uniformity of the wheat distribution within and between rows has a significant effect on crop population structure, leading to decreased yield as nonuniformity increases. Traditional drills are influenced by soil porosity and flatness in the field, making accurate control of sowing depth and amount challenging and resulting in an uneven spatial distribution of gramineous seedlings. Precision cave-sowing technology effectively enhances wheat population distribution uniformity. However, owing to limitations in existing mechanical precision cave planters, their operational speed is lower than that of drill planters. To address these issues, this study designed an air-suction precision wheat seed dispenser, described its basic structure and working principle, and developed a seed mechanical model. A theoretical analysis was conducted on the working process and key components of the seed feeder. A suitable mould hole diameter was determined to be 1.6~2.0 mm, and the rotation speed range for the seed plate was found to be 65~85 r·min⁻¹. Fluent simulations were used to determine the influence of orifice type on gas chamber flow fields; DEM-CFD-coupled simulation identified an appropriate negative pressure range of 2.6~3.4 kPa for optimal performance during seeding operations. Orthogonal experiments were carried out with mould hole diameter, negative pressure size, and seed plate speed as test factors alongside a qualification index, multiple sowing index, and missed sowing index as response indicators—leading to regression equation establishment, which yielded the optimal parameter combination: mould hole diameter at 1.8 mm; gas chamber negative pressure at 3.2 kPa; and a seed plate speed of 74 r·min⁻¹, with the corresponding forwards speed of the machine being 7 km·h⁻¹—resulting in a qualification index of 91.66%, multiple sowing index of 5.98%, and missed sowing index of 2.36%. This pneumatic suction type wheat precision seeder achieves equivalent operational speeds as traditional drills while enabling precision seeding.

In view of the challenges faced by cotton dibbler in Xinjiang under high-speed operation, a novel crawler-type delayed hole-forming device has been designed to address the seed throwing and floating issues in high-speed cotton dibbling in Xinjiang, enhancing the duck bill’s performance. This mechanism increases the sowing speed to 6 km/h by extending the duck bill horizontally. Utilizing agronomic principles, the mechanism’s layout and key components were optimized for efficient hole-forming. DEM and multi-body dynamics simulations were employed to analyze the motion, focusing on the fixed the tilt angle of the duck bill (A), the depth of the duck bill hole-forming into the soil (B), and the angle of rotation of the moving duck bill (C) as factors affecting hole dimensions (longitudinal length of hole Y₁ and hole-forming depth of cotton seed hole Y₂). Quadratic regression test using RecurDyn-EDEM coupling identified optimal parameter settings for maximum hole-forming performance. When A was 2.4°, B was 42.4 mm, and C was 30.5°, the performance of the hole-forming was the best. Under the optimal parameter combination, the bench verification test was carried out. The error between the bench verification results and the simulation results is small, indicating that the model has high accuracy. The average opening time of the duck bill at a speed of 6 km/h is 0.45 s, which is much longer than the time required for cotton seeds to fall from the duck bill (0.11 s). It meets the requirements of high-speed cotton planting in China and facilitating advancements high-speed planter technology.

Addressing the significant challenge in high-speed cotton dibbling operations in Xinjiang—specifically, the duck bill’s ("Duck bill" is a type of duck-billed bunch planting mechanism or component). shortened opening duration leading to seed throwing and floating—a new crawler-type delayed hole-forming mechanism has been designed. This mechanism extends the duck bill horizontally, thereby prolonging its opening time, enabling cotton sowing speeds of up to 6 km/h. Following agronomic principles for cotton planting, the overall layout of the crawler-type hole-forming mechanism, the structural parameters of the key components and the trajectory of the hole-forming are determined. We use the Discrete Element Method (DEM) and multi-body dynamics coupling method to simulate and analyze the motion process of the device. The fixed the tilt angle of the duck bill α(A), the depth of the duck bill hole-forming into the soil h(B), and the angle of rotation of the moving duck bill β(C) were taken as the experimental factors, with the longitudinal length of cotton seed hole (Y1) and the hole-forming depth of cotton seed hole (Y2) as the response values. The parameter range of each factor and the preliminary influence on the response value were determined through pre-experiments and single-factor simulation test. Based on RecurDyn-EDEM coupling, a quadratic regression orthogonal rotation combination simulation test was carried out. The results show that the order of the primary and secondary factors affecting the Y1 of the time-lapse hole-forming device was: A > C > B. The order of primary and secondary factors affecting the Y2 of the delayed hole forming device was: B > C > A. When the A was 2.4 °, the B was 42.4 mm, and the C was 30.5 °, the performance of the hole-forming was the best, and the Y1 was 26.4 mm, and the Y2 was 25.0 mm. The bench verification test results show that under the optimized combination of operating parameters, the average Y1 was 29.1 mm, and the average Y2 was 23.2 mm. Compared with the results of the previous coupled simulation model, the average relative errors of the two are 7.23 % and 4.36 %, respectively, indicating the accuracy and effectiveness of the established DEM simulation model and virtual test analysis. The hole-forming area and the opening time of the duck bill after the stable operation of the machine were recorded and measured. The calculated hole dislocation rate Hc was 4.33 %, which did not exceed the national standard requirement of 6 %. The qualified rate of hole distance Hx was 94.33 %, which was much higher than the national standard requirement of 80 %. The average opening time of the duck bill at a speed of 6 km/h is 0.45 s, which is much longer than the time required for cotton seeds to fall from the duck bill 0.11 s. It meets the requirements of high-speed cotton planting in China and facilitating advancements in future high-speed planter technology.