Design and experiment of control system for seedling picking-up and transferring device based on fuzzy PID

In order to improve the control accuracy and stability of the transplanter, this paper proposed an adaptive fuzzy PID control algorithm to replace the traditional control algorithm. This article introduced the basic structure of the transferring device and seedling picking-up device firstly, and then the controller design based on the adaptive fuzzy PID control algorithm and the software and hardware design of the control system, the relationship between the optimal gripping force of the manipulator and the rotation angle of the motor was determined in the process of seedling picking-up experiment, and the gripping force control model was obtained by BP neural network training. Simulink was used to perform a simulation analysis of the control algorithm, the simulation results showed that the overshoot of the control system was 0 and the response time was 0.028 s. Finally, a seedling picking-up test was carried out, the average success rate of seedling picking-up reached 92.27%, and the substrate loss rate was as low as 3.11%. The results showed that the adaptive fuzzy PID control algorithm could improve the stability of the control system effectively, and it could provide new ideas for the research and development of the control system of the plug seedling transplanter.