基于变论域模糊PID的水肥控制策略研究  

Irrigation and fertilizer control strategy based onvariable domain fuzzy PID

作　　者：王庆华 周晶 侯俊才[1] WANG Qinghua;ZHOU Jing;HOU Juncai(College of Mechanical and Electronic Engineering,Northwest A&F University,Yangling,Shaanxi 712100,China;Guangzhou Automobile Company Engineering Institute,Guangzhou,Guangdong 511434,China)

机构地区：[1]西北农林科技大学机械与电子工程学院,陕西杨凌712100 [2]广州汽车集团股份有限公司汽车工程研究院,广东广州511434

出　　处：《西北农林科技大学学报（自然科学版）》2023年第11期144-154,共11页Journal of Northwest A&F University(Natural Science Edition)

基　　金：陕西省重点研发计划项目(2021NY-182);国家现代农业产业技术体系项目(CARS-23-D06);陕西省科技创新团队项目(2021TD-34)。

摘　　要：【目的】设计用于三通道灌溉施肥机的变论域模糊比例积分微分(PID)水肥配比控制器,为水肥一体机灌溉过程中水肥配比的精准控制提供支持。【方法】结合自动化技术和智能控制算法,设计变论域模糊PID水肥配比控制策略,通过流量传感器实时监测水肥一体机灌溉过程中的水肥配比,采用变论域模糊PID控制策略调控阀门开度改变吸肥泵的回水量,实现对灌溉溶液中水肥配比的控制,并以蔬菜上海青为对象,通过田间试验对该算法的控制效果进行试验验证。【结果】与传统PID控制系统相比,变论域模糊PID控制系统的水肥配比波动和超调量均较小,到达稳态的时间缩短了5~25 s;变论域模糊PID控制的水肥配比误差不超过5%。田间试验结果表明,与使用传统人工灌溉施肥相比,采用变论域模糊PID控制策略的水肥一体化系统灌溉上海青可以节水14.92%,节省尿素14.68%,节省过磷酸钙12.76%,且上海青的平均全长、株高、开展度、叶片数分别提高了15.86%,17.67%,18.92%和21.73%,产量提高了41.73%。【结论】实现了水肥一体机水肥配比的变论域模糊PID控制,设计的水肥一体机的性能可以满足实际生产需求。【Objective】To provide accurate control of water-fertilizer ratio during irrigation process,a water-fertilizer ratio controller based on variable domain fuzzy proportional-integral-derivative(PID)was designed for a three-channel irrigation and fertilization machine.【Method】Combined with automation technology and intelligent control algorithm,a variable domain fuzzy PID control system was designed to control water-fertilizer ratio and monitor water-fertilizer ratio of the water fertilizer integrated machine in real time through the flow sensor during irrigation process.To control water-fertilizer ratio of the irrigation solution,the control algorithm of variable domain fuzzy PID was used to regulate valve opening and change return water volume of the fertilizer suction pump.Then,the control effect of this algorithm was verified by field experiments with Brassica campestris as the object.【Result】Compared with traditional PID control system,water-fertilizer ratio in the variable domain fuzzy PID control had fluctuation and overshoot.The time to reach steady state was reduced by 5-25 seconds.The error of water-fertilizer ratio in the variable domain fuzzy PID control strategy was less than 5%.The results of field experiments showed that compared with Brassica campestris irrigated by traditional artificial irrigation and fertilization,Brassica campestris irrigated by variable domain fuzzy PID control irrigation and fertilization system saved water,urea and superphosphate by 14.92%,14.68%and 12.76%,respectively.The average length,plant height,development degree and leaf number of Brassica campestris were increased by 15.86%,17.67%,18.92%and 21.73%,respectively,and its yield was increased by 41.73%.【Conclusion】The designed water fertilizer integrated machine realized the control of water-fertilizer ratio by the variable domain fuzzy PID algorithm,and the water fertilizer integrated machine can meet the requirements of practical application.

关 键 词：变论域模糊PID 水肥一体化系统 水肥配比 

分 类 号：S224.21[农业科学—农业机械化工程]