王润涛,刘瑶,王树文,李明,孙文峰,薛忠.基于模糊控制的车速跟随变量喷雾系统设计与试验[J].农业机械学报,2022,53(6):110-117.
WANG Runtao,LIU Yao,WANG Shuwen,LI Ming,SUN Wenfeng,XUE Zhong.Design and Experiment of Speed-following Variable Spray System Based on Fuzzy Control[J].Transactions of the Chinese Society for Agricultural Machinery,2022,53(6):110-117.
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基于模糊控制的车速跟随变量喷雾系统设计与试验   [下载全文]
Design and Experiment of Speed-following Variable Spray System Based on Fuzzy Control   [Download Pdf][in English]
投稿时间:2022-02-07  
DOI:10.6041/j.issn.1000-1298.2022.06.011
中文关键词:  精准施药  变量喷雾  模糊控制  车速跟随
基金项目: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)和湛江市科技计划项目(2020A04004)
作者单位
王润涛 岭南师范学院 
刘瑶 岭南师范学院 
王树文 岭南师范学院 
李明 岭南师范学院 
孙文峰 东北农业大学 
薛忠 中国热带农业科学院 
中文摘要: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3WF-1000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、17s,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。
WANG Runtao  LIU Yao  WANG Shuwen  LI Ming  SUN Wenfeng  XUE Zhong
Lingnan Normal University;Northeast Agricultural University; China Academy of Tropical Agricultural Sciences
Key Words:accurate pesticide application  variable spraying  fuzzy control  speed following
Abstract: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 3WF-1000 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 13.4s, 27.6s and 17s, 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.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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