基于遥控的温室喷雾机自适应控制系统设计与试验  

Design and Experiment of Adaptive Control System for Greenhouse Sprayer Based on Remote Control

作　　者：贾卫东[1] 颜杰 欧鸣雄[1] 沈跃 王浩宇 董祥[2] 

机构地区：[1]江苏大学现代农业装备与技术教育部重点实验室,江苏镇江212013 [2]中国农业机械化科学研究院,北京100083

出　　处：《农机化研究》2018年第4期62-67,共6页Journal of Agricultural Mechanization Research

基　　金：国家自然科学基金项目(51475215);"十二五"国家科技支撑计划项目(2014BAD08B04);江苏省高校自然科学研究重大项目(13KJA210001);江苏大学高级人才科研启动基金项目(14JDG030);公益性行业(农业)科研专项(201203025-04)

摘　　要：在地面存在障碍及施药隐患的温室环境里,为避免喷雾机碰撞墙面或作物,防止重喷漏喷,要求喷雾机与作物之间始终保持近似平行,以保证施药效果。为此,基于串口通信,设计了无线遥控及自适应行走的实时运动控制系统。在喷雾机车体两侧及前端共布置了5个超声波测距传感器,分别用来实时检测车体到作物行两边的距离和前方路况,并设计了一种对作物行两侧距离检测的去最值平均值算法,以根据测量数据对喷雾机进行实时调整。给出了样机总体结构,介绍了运动控制系统的组成、原理及自适应调节方法,详细阐述了控制系统的软硬件设计方法,并对遥控与自适应实时运动控制系统及算法的调节性能分别进行了室内场地试验和温室环境试验。试验结果表明:自适应控制系统及算法可使喷雾机实时快速调整并沿作物行中心线行走,喷雾机实际偏移道路中心线的距离平均值为6cm,遥控系统灵敏、安全、可靠。In order to avoid the collisions of walls or crops in existing obstacles and hidden Dangers greenhouse,the approximate parallel between crops and sprayer is required to ensure the spraying effect and avoid overlap or misses spray.An adaptive real-time motion control system was designed based on serial communication and the wireless remote control technology. Five ultrasonic sensor was arranged at both sides of the car body to detect the rode condition and the distance between car body and crop. An average algorithm is proposed to detect the distance between sprayer and crops. The sprayer is adjusted in real-time according to the measurement data. The general structure of prototype was given,the component and principle of motion control system was introduced. Besides,elaborating the design method of hardware and software of the control system and designing an average value algorithm aimed at greenhouse wall. Indoor simulation experimentand greenhouse environment test was conducted respectively,aiming to check the regulation performance of remote control and adaptive real-time motion control system. The result showed that the remote control system for sensitive,safe and reliable. With the help of Adaptive control system and algorithm,the sprayer could achieve quickly real-time adjustment and along the center line to walk with an actual average offset value of 6 cm.

关 键 词：温室喷雾机 实时控制 自适应 遥控 

分 类 号：S24[农业科学—农业电气化与自动化] TP273[农业科学—农业工程]