Soil Moisture Detection and Linear Deceleration Control Strategy Enhancing Trenching Depth Precision and Stability for Rapeseed Sowing

Abstract

Sowing depth significantly affects the germination of rapeseed, and different soil moisture conditions require corresponding sowing depths. However, most current trenching devices do not account for soil moisture content, and commonly used hydraulic or constant-force trenching equipment also exhibits deficiencies in stability and consistency. To address these challenges, this study developed an automatic depth adjustment control system based on soil moisture content. A soil moisture detection device and an innovative sliding mechanism that maintained the soil moisture sensor in a relatively stationary position relative to the soil during seeder movement were introduced. An automatic sowing depth adjustment device was designed to modulate the sowing depth. A control strategy that incorporated the Kalman filtering algorithm and linear deceleration equations was conducted. At an observation noise covariance matrix (Q/R) of 0.001, a deceleration range of 40 mm and a minimum speed of 10, the control system exhibited minimal overshoot (approximately 4%) and steady-state error (approximately 3.2 mm). It effectively adjusted the trenching depth while operating at speeds ranging from 2 to 3.6 km/h, successfully adapting to variations in soil topography. The system performance tests revealed that the control system adjustment time (ts) was 534 ms and the steady-state error remained within 1 mm. Under three different soil moisture content conditions, the sowing depth qualification rate and stability coefficients consistently surpassed 90% and 80%, respectively. This research offers a sowing depth adjustment control system based on soil moisture content, contributing to more precise depth regulation for rapeseed sowing.