A good planting bed is a prerequisite for improving planting quality, while complex ground excitation often leads to machine bouncing and operation vibration, which then affects the operation effect. In order to improve the quality of rotary tillage operations, it is necessary to study the effects of various vibration excitations on the unit during tractor rotary tillage operations and analyze the vibration interaction relationship among the tractor, the three-point suspension mechanism, and the rotary tiller. For this purpose, multiple three-way acceleration sensors were installed at different positions on the rotary tiller unit of a Lexing LS1004 tractor(Lexing Agricultural Equipment Co. Ltd., Qingdao, China) to collect vibration data at different operating speeds and conduct vibration characteristic analysis between different components. The test results showed that when the unit moved forward at 2.1 km/h, 3.6 km/h, and 4.5 km/h, respectively, the vibration acceleration of the tractor, the three-point suspension mechanism, and the rotary tiller increased with the increase in speed, and there was indeed interaction between them. The vertical acceleration change during the test in the three-point suspension mechanism was the most significant (5.914 m/s²) and was related to the increase in the speed of the vehicle and the vibration transfer of the rotary tiller. Meanwhile, the vertical vibration acceleration of the tractor’s symmetrical structure was not similar, suggesting the existence of structural assembly problems. From the perspective of frequency domain analysis, the resonant frequency at the cab of the tractor was reduced in a vertical vibration environment, with relatively low frequencies (0~80 Hz) and small magnitudes, which might be beneficial to the driver’s health. The rotary tillage group resonated around 350 Hz, and this characteristic can be used to appropriately increase the vibration of the rotary tiller to reduce resistance. The tractor cab resonated around 280 Hz, which must be avoided during field operations to ensure driver health and reduce machine wear. The research results can provide a reference for reducing vibration and resistance during tractor rotary tillage operations, as well as optimizing and improving the structure of rotary tillers and tractors.

For the mechanized technical mode of total wheat straw returning to field, there are problems such as large vibration during the operation of the straw returning machine that, in turn, affect the effect of stubble breaking. This study took the Tongtian 1-JHY-220 straw returning machine as the research object to conduct field experiments, with wheat stubble height, forward velocity, and PTO speed as experimental parameters. And the vibration characteristics at different positions of the machine and the final stubble breaking rate were used as evaluation indicators. Combined with the orthogonal experiment and response surface analysis method, this article analyzes and discusses the influence of various parameters on vibration characteristics and operational effectiveness. The results show that PTO speed and wheat stubble height were the main factors affecting the vibration and operation quality of the straw returning machine. Low PTO speed and high stubble height can improve the stubble breaking rate of the straw returning machine and reduce its operation vibration. Furthermore, the multi-objective optimization results show that when the forward velocity in the range of 8.5–9 km/h, the PTO speed is 540 r/min, and the stubble height is in the range of 200–250 mm, the stubble breaking rate of the straw returning machine is greater than 86%. At this time, the total vibration of the straw returning machine and tractor rear axle is relatively small. This study can lay a foundation for further studying the impact of the vibration of the straw returning machine on the stubble breaking effect and provide a reference for the preparation of high-quality seedbed under conservation tillage.

In response to the problems of low control accuracy, single detection of operating parameters, and insufficient collaborative control of unmanned fertilization in field fertilization operations, this paper proposes an adaptive control strategy for fertilizer discharging shaft speed based on segmented linear interpolation method. By constructing a relationship model between fertilizer discharging shaft speed and motor control signals in different speed ranges, the on-site self-calibration of fertilizer discharging shaft speed and the precise control of the fertilization rate is achieved. At the same time, real-time detection and warning technology for multiple working condition parameters were integrated, and a bus communication protocol between unmanned tractors and variable-rate fertilizer applicators was developed. A variable-ratefertilization monitoring system based on unmanned tractors was developed, and actual experimental tests were conducted to test the system’s performance. Among them, the calibration test results of fertilization rate showed that the discharging rate of the fertilizer apparatuses (p) was negatively correlated with the rotation speed of the fertilizer discharging shaft, and that the installation position of the fertilizer apparatuses affected the uniformity of fertilization between the rows of the fertilizer applicator. The speed response test of the fertilizer discharging shaft showed that the average response time (T_s) of the fertilizer discharging shaft speed controlled by the self-calibration model was 0.40 s, the average steady-state error (e_ss) was 0.13 r/min, and the average overshoot (σ) was 7.33%. Compared with the original linear model, the e_ss was reduced by 0.23 r/min, and the σ was reduced by 1.54 percentage points. The results of the fertilization status detection tests showed that the system can achieve real-time detection of different operating parameters and states, as well as collaborative control of tractors and fertilizer applicators. The results of the fertilization rate control accuracy test showed that the average fertilization control error of the system was 1.91% under different target fertilization rate, which meets the requirements of variable-rate fertilization field operations. This study can serve as a technical reference for the design and development of fertilization robots in the context of unmanned farm development.

The complex field environment under conservation tillage aggravates the vibration during a planter’s operation, affecting the sowing quality and fertilization depth. Studying its vibration characteristics can help to realize active vibration reduction control of planter row units. To this end, this paper took a four-row no-till planter as the research object. By establishing a field vibration model of the planter row unit, the factors affecting the vibration of the unit were clarified, and stubble height, working speed and the additional weight of the planter were used as experimental factors in carrying out field orthogonal experiments. In our experiment, we collected and analyzed vibration data on the four-row planter row units and the frame at different positions to explore the influence of various factors on the vibration characteristics of the planter. The experimental results showed that the working speed was the most important factor affecting the vibration of the planter, and the impact of stubble height and additional weight on the amplitude of the planter was more significant at low speed (1.5 m/s) than that at high speed (2.5 m/s). The difference in amplitude of each planter unit in the lateral direction was the largest, the average amplitude range of which was 1.898 m/s². The vibration energy of each planter row unit under different working conditions was mainly concentrated in the range of 10–50 Hz. However, the three-point hitch of the planter transmitted the vibration excitation of the tractor, causing 110–120 Hz high-frequency vibration of the inner row units, while the outer row units were less affected, with the vibration energy, in the range above 100 Hz, being 2.5 dB smaller than that on the inner side. The right ground wheel transmission device was abnormal, which worked together with the excitation transmitted by the three-point hitch, making the average vibration acceleration amplitude of the planter row units on the right side in the lateral direction more than 0.522 m/s² higher than that of the units on the left side. Therefore, different vibration reduction forces need to be applied according to the position of the planter row unit, so that the units can avoid the natural frequency of the frame (115 Hz) when vibrating. This study can provide a reference for active vibration reduction control and improvements in sowing quality for high-speed no-till planters.