Design of an Electrically Driven Sugarcane Seeding System Based on GNSS-RTK Receiver and SAPSO-LADRC Algorithm

Abstract

In this study, the electrically driven sugarcane seeding system configures the desired plant spacing via the touchscreen human–computer interaction. The operating speed of the implement is acquired through the GNSS-RTK receiver in real-time during operation. In contrast, the instantaneous rotational speed of the motor is measured using a rotary encoder. Subsequently, the rotational speed of the sowing motor is regulated using a control system based on linear active disturbance rejection control. The parameters of this control system are optimized through the simulated annealing particle swarm optimization algorithm. A mechanism for monitoring misplaced sugarcane seeding is designed to detect seed misplacement instances and store the misplacement locations’ coordinates. The results of simulated seeding experiments indicate that, under various seeding operation speeds and plant spacing settings, the seeding motor’s theoretical and actual rotational speed discrepancy falls within the range of 4.03–6.61%. The average coefficient of variation for qualified plant spacing is 12.62%. The average error for seeding plant spacing is 8.44%. Compared to a similar type of ground wheel-driven sugarcane planting mechanism, the sugarcane planting system with electric drive exhibits an increase of 1.44% in the accuracy of planting spacing and a reduction of 6.72% in the average coefficient of variation for qualified plant spacing. The average positioning error for missing cane seeding is 84.11 mm, which can meet the sugarcane seedling shortage replanting operation requirements. The electric-driven sugarcane seeding system designed in this study overcomes the inflexibility of ground wheel-driven systems, effectively improving planting accuracy and flexibility. Additionally, it enables precise positioning of missed seeding spots, supporting efficient replanting operations. This study has reference significance for sugarcane precision planting technology.