基于模糊PID的冬小麦变量追肥优化控制系统设计与试验  

Design and Experiment of Optimization Control System for Variable Fertilization in Winter Wheat Field Based on Fuzzy PID

作　　者：陈满[1] 鲁伟[1] 汪小旵[1,2] 孙国祥[1,2] 张瑜[1,2] 

机构地区：[1]南京农业大学工学院,南京210031 [2]江苏省现代设施农业技术与装备工程实验室,南京210031

出　　处：《农业机械学报》2016年第2期71-76,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：'十二五'国家科技支撑计划项目(2013BAD08B04-8);江苏省普通高校研究生科研创新计划项目(KYLX_0518)

摘　　要：为了实现冬小麦实时变量精确追肥,研究了基于模糊PID控制技术的变量追肥机追肥量实时调整算法,通过对排肥器转速和开度双变量调节,实现追肥量的优化控制。系统首先采用粒子群优化算法确定PID控制器参数的初始值,然后通过实时获取冬小麦冠层归一化植被指数和排肥器实时状态,结合模糊控制理论和PID控制技术,对PID参数进行在线整定,实时调整排肥器的转速和开度,从而实现追肥量的最优控制。试验结果表明:施肥过程中,施肥量存在波动性。但施肥量变异系数小,最大为3.22%,均值为2.09%,可以满足田间变量施肥的要求。模糊PID控制算法具有良好的动态稳定性和跟踪性能,无论是室内试验还是大田试验的控制精度均达到86%以上。In order to achieve real-time variable dressing at winter wheat jointing stage,the fertilizer quantity real-time adjustment algorithm based on fuzzy PID control was studied. To achieve the optimal control of fertilizer,the rotation speed and opening of fertilizer apparatus were real-timely adjusted online. With ITAE criterion as the fitness function,the initial values of PID controller parameters were determined based on particle swarm optimization algorithm（ PSO）. The algorithm combined the traditional PID control with fuzzy algorithm by acquiring the real-time parameters,such as the crop canopy real-time spectral information（ Normalized differential vegetation index,NDVI）,rotation speed and opening. The parameters of PID were set online and the rotation speed and opening of fertilizer apparatus were real-timely adjusted to achieve optimal control of variable dressing. Results showed that the fuzzy PID had good dynamic stability and tracking performance. A fluctuation existed on fertilizing amount during the process of fertilization. But the variation coefficient of fertilizing amount was small with the maximum value of 3. 22% and average value of 2. 09%,which met the requirements of field variable fertilization. In the laboratory tests,the maximum overshoot of rotation speed was about 11. 96%,the maximum overshoot of opening did not exceed 14. 94%,and the system precision could reach above87%. In the field experiments,the maximum overshoot of rotation speed was about 12. 80%,the maximum overshoot of opening did not exceed 14. 79%,and the system precision could reach above86%. The system had good stability,accuracy and rapidity and it was able to satisfy the agriculture technical requirements.

关 键 词：冬小麦 变量追肥 粒子群优化算法 转速开度双变量 模糊PID控制 

分 类 号：S224.22[农业科学—农业机械化工程] TP273.2[农业科学—农业工程]