乔爱民,何博侠,王艳春.猪用智能粥料器控制系统研究[J].农业机械学报,2016,47(7):166-175.
Qiao Aimin,He Boxia,Wang Yanchun.Control System of Smart Pig Porridge Feeder[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(7):166-175.
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猪用智能粥料器控制系统研究   [下载全文]
Control System of Smart Pig Porridge Feeder   [Download Pdf][in English]
投稿时间:2015-11-24  
DOI:10.6041/j.issn.1000-1298.2016.07.023
中文关键词:  粥料器  控制系统  水料比  LS-SVR  格罗布斯准则  质量递推补偿
基金项目:国家自然科学基金项目(51175267)和安徽省高等学校省级自然科学重点基金项目(KJ2013Z193)
作者单位
乔爱民 蚌埠学院 
何博侠 南京理工大学 
王艳春 蚌埠学院 
中文摘要:设计了一种基于嵌入式微控制器的猪用智能粥料器控制系统,该控制系统实现了粥料器在连续送料过程中干饲料和水分的质量比例(水料比)按设定值进行动态调节,饲料日送料量能得到精确控制。通过静态测量方法获取样本数据,建立饲料出料速度与送料电动机转速间的最小二乘支持向量回归(LS-SVR)模型。在粥料器连续送料过程中,采用LS-SVR模型融合格罗布斯准则及阈值判断等数据处理方法对实时采样数据的异常值进行剔除,由最小二乘线性回归预测出固定时间内的干饲料出料量,在进水量可准确测量的前提下,实现水料比动态调节。粥料器控制系统通过结合静态测量及LS-SVR回归模型的质量递推补偿方法对粥料器每日的送料量进行质量补偿,实现了对粥料器日送料量的精确控制。控制系统的水料比动态调节误差在4%以内,质量递推补偿方法可以保证平均单头猪日进食量误差不超过1g。
Qiao Aimin  He Boxia  Wang Yanchun
Bengbu University,Nanjing University of Science and Technology and Bengbu University
Key Words:porridge feeder  control system  proportion of water and feed  least square support vector regression  Grubbs criterion  recursive weight compensation
Abstract:The control system of a smart pig porridge feeder was designed based on MCU whose kernel was the ARM Cortex M3. The control system could well solve the problems of pig porridge feeder which include both the weight proportion between water and dry feeding, and the dry feeding weight delivered for every day. The ways of dynamical adjustment for the weight proportion of water and dry feed were shown as follows. Firstly, the least square support vector regression (LS-SVR) model between the delivered speed of the dry feeding and the motor’s rotary speed was founded. Then referred to the LS-SVR model, the abnormal real time sampling weight value during continuous delivering feed was removed by using some data process methods, such as the threshold value judgment and the Grubbs criterion. At last, the value of feeding at certain times was predicted via the line regression model attained by least squares fitting the rest of sampling data. Because the water flow could be truly detected by a flow sensor, the weight proportion of water and dry feed was well adjusted. Using recursive weight compensation combined the LS-SVR model and static measurement means, the delivered dry feeding weight for one day was accurately controlled by the control system. After being mixed with stirred fully by the feeder using the control system, the water and the dry feed were turned to porridge whose nutrients should be better absorbed by pigs. The weight proportion of water and dry feed error was below 4%. The weight error of feeding for a pig per day was less than 1g.

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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