1.华中农业大学工学院/农业农村部长江中下游农业装备重点实验室，武汉 430070;2.武汉软件工程职业学院(武汉开放大学)，武汉 430205;3.湖北神丹健康食品有限公司，安陆 432600
郑伟，E-mail：1743363960@qq.com
龚东军，E-mail：158798051@qq.com
S817.5
武汉市属高校产学研项目（CXY202016）； 中央高校基本科研业务费专项（2662020GXPY005）
- ZHENG Wei 1
- GONG Dongjun 1,2
GONG Dongjun
College of Engineering /Ministry of Agriculture and Rural Affairs Key Laboratory of Agricultural Equipment in Mid-Lower Yangtze River， Huazhong Agricultural University， Wuhan 430070， China;Wuhan Vocational College of Software and Engineering （Wuhan Open University）， Wuhan 430205， China
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在本站中查找 - ZHOU Jianwei 1
- HOU Shuaikai 1
- HUANG Kaihu 1
- WANG Shucai 1
- LI Ling 3
1.College of Engineering /Ministry of Agriculture and Rural Affairs Key Laboratory of Agricultural Equipment in Mid-Lower Yangtze River， Huazhong Agricultural University， Wuhan 430070， China;2.Wuhan Vocational College of Software and Engineering (Wuhan Open University)， Wuhan 430205， China;3.Hubei Shendan Healthy Food Co.， Ltd， Anlu 432600，China
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为解决层叠式笼养鸭养殖过程中出现的清粪带跑偏问题，设计了一种清粪带动态纠偏系统，由跑偏检测装置、纠偏执行装置、控制系统等组成。首先，通过布置在清粪带两侧的6个压力传感器实时监测清粪带的运行状态，当清粪带跑偏时，其侧边会推动跑偏检测装置中的防跑偏器，使跑偏一侧的3个压力传感器的压力值发生变化，通过这种变化间接推断出清粪带的跑偏方向及偏移量，当STM32单片机根据采集的各传感器数据判定清粪带跑偏时，会自动控制两侧步进电机运动，从而调节滚筒两端沿滑轨前后移动实现纠偏。同时引入了Fuzzy-PID控制算法，通过位移传感器进行反馈实现闭环控制，以提高控制系统的稳定性和控制精度。试验结果显示，整体纠偏成功率为85%，平均偏差值17 mm，平均相对偏差16%。结果表明，该清粪带动态纠偏系统基本满足层叠式笼养鸭养殖场对清粪带自动化纠偏的要求，极大地减轻养殖人员的劳动强度。
A dynamic correction system consisted of a deviation detection device， a correction execution device， a control system， etc. for the manure cleaning belt was designed to solve the deviation of the manure cleaning belt during the farming of duck with stacked cage. Firstly， the operation status of the manure cleaning belt was monitored in real-time through 6 pressure sensors arranged on both sides of the belt. When the manure cleaning belt deviated， its side pushed the anti-deviation device in the deviation detection device， causing the values of the 3 pressure sensors on the deviated side to change. The direction and offset amount of the cleaning belt was indirectly inferred through the changes. When the STM32 microcontroller determined the deviation of the manure cleaning belt based on the data collected from sensors， it automatically controlled the movement of the stepper motors on both sides， thereby adjusting the forward and backward movement of the drum along the sliding rail to achieve correction. At the same time， the Fuzzy PID control algorithm was introduced to achieve closed-loop control through feedback from displacement sensors to improve the stability and control accuracy of the control system. The results showed that the overall success rate of correction was 85%， with an average deviation of 17 mm and an average relative deviation of 16%. It is indicated that the dynamic correction system designed for the manure cleaning belt basically meets the requirements of the stacked cage-farming duck for automatic correction of the manure cleaning belt， greatly reducing the labor intensity of the farming personnel.
引用本文
郑伟,龚东军,周健伟,侯帅凯,黄开虎,王树才,李玲.层叠式笼养鸭清粪带动态纠偏系统设计[J].华中农业大学学报,2025,44(2):62-72
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- 收稿日期:2024-04-10
- 在线发布日期: 2025-04-02
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