基于ABC-PID算法的变量喷雾控制系统设计与试验  

Design and Experiment of Variable Spray Control System Based on ABC-PID Algorithm

作　　者：赵玉玺 胡军[1,2] 刘昶希 李宇飞 王淞[1] 武志坤 张伟 Zhao Yuxi;Hu Jun;Liu Changxi;Li Yufei;Wang Song;Wu Zhikun;Zhang Wei(College of Engineering,Heilongjiang Bayi Agricultural University,Daqing 163319,China;Heilongjiang Province Conservation Tillage Engineering Technology Research Center,Daqing 163319,China)

机构地区：[1]黑龙江八一农垦大学工程学院,黑龙江大庆163319 [2]黑龙江省保护性耕作工程技术研究中心,黑龙江大庆163319

出　　处：《农机化研究》2024年第7期57-63,共7页Journal of Agricultural Mechanization Research

基　　金：国家大豆产业技术体系岗位专家项目(CARS-PS30);国家重点研发计划项目(2017YFC1601905-04);黑龙江省应用技术研究与开发计划项目(GA21B003);黑龙江八一农垦大学学成引进项目(XDB2013-08)。

摘　　要：针对常用流量调节式变量喷雾系统控制参数调节复杂,导致流量控制响应延迟、超调量大等问题,提出利用寻优性能好的人工蜂群算法整定PID参数,从而达到精准调节系统流量的目标,进而提高变量喷雾系统的工作性能。为验证该系统的控制效果,运用MatLab进行仿真分析,发现ABC-PID控制在超调量、上升时间两方面均优于常规PID和模糊PID。在黑龙江八一农垦大学植保实验室进行室内试验,验证ABC-PID、模糊PID及常规PID的控制精度,结果表明:恒速试验平均施药量误差分别为1.3%、3.1%、4.5%,变速试验平均施药量误差分别为2.1%、3.8%、4.9%。根据上述仿真试验和室内试验结果分析,验证了ABC-PID在控制效果方面优于其他两种控制方法。结合仿真试验、室内试验分析可知:提出引入ABC算法优化常规PID控制参数,在施药量控制精度和减小超调量等方面均表现良好,可为精准变量施药技术提供新的思路。In order to solve the problems such as complicated control parameters adjustment,flow control response delay and large overshoot in the common variable flow control spray system,an artificial bee colony algorithm with good optimi-zation performance was proposed to adjust PID parameters,so as to achieve the goal of accurate flow regulation of the sys-tem and improve the performance of the variable flow spray system.In order to verify the control effect of the system,Mat-lab is used for simulation analysis.The results show that the ABC-PID control algorithm is superior to conventional PID and fuzzy PID in overshoot and rise time.Laboratory tests were carried out in plant protection laboratory of Heilongjiang Bayi agricultural university to verify the control accuracy of ABC-PID,fuzzy PID and conventional PID.The average dose error of constant speed test was 1.3%,3.1%and 4.5%,and the average dose error of variable speed test was 2.1%,3.8%and 4.9%,respectively.According to the above simulation and laboratory test results,it is verified that ABC-PID has two other control methods in control effect.Combined with simulation experiment and laboratory test analy-sis:ABC algorithm was introduced in this paper to optimize conventional PID control parameters,which performed well in the control accuracy of dosage and the reduction of overshoot,providing a new idea for precise variable dosage applica-tion technology.

关 键 词：变量喷雾 ABC-PID控制 模糊PID PID 

分 类 号：S491[农业科学—植物保护] S24