基于模糊控制的车速跟随变量喷雾系统设计与试验  

Design and Experiment of Speed-following Variable Spray System Based on Fuzzy Control

作　　者：王润涛 刘瑶 王树文 李明 孙文峰[2] 薛忠[3] WANG Runtao;LIU Yao;WANG Shuwen;LI Ming;SUN Wenfeng;XUE Zhong(College of Electronics and Electrical Engineering,Lingnan Normal University,Zhanjiang 524048,China;College of Engineering,Northeast Agricultural University,Harbin 150030,China;South Subtropical Crops Research Institute,China Academy of Tropical Agricultural Sciences,Zhanjiang 524091,China)

机构地区：[1]岭南师范学院电子与电气工程学院,湛江524048 [2]东北农业大学工程学院,哈尔滨150030 [3]中国热带农业科学院南亚热带作物研究所,湛江524091

出　　处：《农业机械学报》2022年第6期110-117,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2018YFD020100408,2020YFD1000604);广东省普通高校特色创新项目(2020KTSCX074);广东省自然科学基金项目(2021A1515012440);国家自然科学基金项目(62005109);湛江市科技计划项目(2020A04004)。

摘　　要：针对目前大田宽幅机械变量喷雾精准化程度低、农机车速变化对喷雾效果影响考虑不充分的问题,为了提高精准施药、施肥能效,基于3WF1000型喷杆式喷雾机,设计了一种自适应跟随车速的变量喷雾系统。该系统采用传感器实时采集农机行进速度、出水管流量与压力、药箱液位高度等信息,运用Bisector模糊控制算法优化控制策略,实现了比例阀阀门变化角度的动态控制,达到了对出水管流量精准调控的目标。为验证Bisector模糊控制算法应用于本系统的优越性,利用Matlab构建仿真模型,与PID算法、Centroid算法对比分析,Bisector模糊控制算法在调节时间、超调量、稳态误差方面均表现优越。田间试验过程中,进行了非行走设定车速、恒定车速跟随、动态车速跟随以及单位面积喷雾量试验,结果表明,3种车速运行状态,变量喷雾系统适应扰动达到稳定运行的调节耗时分别为13.4、27.6、17 s,单位面积喷雾量的最大绝对误差比率分别为1.20%、2.27%、2.87%,能够满足大田精准施药的精度要求。Aiming at the problems of low accuracy of variable spray in wide field and insufficient consideration of the influence of agricultural machinery speed changes on the spray effect,a variable spray system with adaptive following speed was designed based on 3WF1000 sprayer,which could improve the efficiency of accurate application of pesticides and fertilizers.The system consisted of four parts:early warning monitoring,speed monitoring,core control and execution agencies.Based on the multi-sensor real-time monitoring of speed,flow rat,pressure and liquid level height,the system used Bisector fuzzy control algorithm to optimize the system control.It realized the dynamic control of the change angle of the proportional valve and achieved the goal of accurate control of outlet pipe flow.In order to verify the superiority of the system algorithm in accurate variable application,the PID,Bisector fuzzy and Centroid fuzzy control modes were modeled and simulated under the Matlab platform.Through comparison,it could be seen that the Bisector fuzzy control was superior to the other two control modes in terms of adjusting time,overshoot and steady-state error.Field trials were carried out,such as non-travel fixed speed,fixed speed following,dynamic speed following and spray volume per unit area.In three speed states,the variable spray system adjustment times to stable operation were 13.4 s,27.6 s and 17 s,respectively,the maximum absolute error ratios of unit area spray volumes were 1.20%,2.27%and 2.87%,respectively,which showed that the control system could meet the accuracy requirements of field accuracy application.

关 键 词：精准施药 变量喷雾 模糊控制 车速跟随 

分 类 号：S49[农业科学—植物保护]