农作物喷雾机控制器的研究与设计及非行走试验分析
发布时间：2018-07-16 21:44
【摘要】：精准农业是被广泛承认的可持续发展农业,并在国外已经获得了显著的经济和社会效益。在精确农业技术体系中,精准变量喷雾是一个重要的组成部分,是保证单位面积施药量、提高农药利用率、降低环境污染的必要措施。本文结合东北农业大学重点科技攻关项目,围绕变量喷药目的,分析农作物喷雾机控制器的工作原理即保证农田单位面积喷雾量恒定的喷雾作业,根据喷雾机的车速变化,对喷雾作业中的数据进行实时的检测并控制喷头喷雾量。对农作物喷雾控制系统整体设计,进行了深入非行走试验分析研究。针对我国精准农业中变量喷雾技术的发展需求现状,本文对精准变量喷雾控制系统进行研究。根据农作物喷雾机控制器的工作原理即保证农田单位面积喷雾量恒定的喷雾作业,对喷雾作业中的数据进行实时的检测,为设计的核心内容。依据技术要求,借助闭环控制原理和农作物喷雾机控制器工作原理的分析,通过模块化设计方法,制定了以单片机为控制核心,调节阀为执行机构的控制器设计方案,围绕方案展开深入的研究。论文首先根据系统设计方案与功能要求,对检测部件、执行部件等相关硬件设备进行了选型,由于调节阀具有流量非线性的特点,通过试验并分析其原理,根据e、?e和e2?找出u的增量?u的输出控制规则,并用这些规则来建立控制规则,从而保证喷雾量的精准度。其次对控制器的硬件电路进行了设计,重点对控制板,电源电路,信号采集电路以及驱动电路进行设计,整合各个模块电路并制作PCB样板。然后,对控制器的软件进行了设计,选用C语言软件开发平台Keil C51编写控制器程序,利用控制板处理器的定时中断功能控制调节阀开、关时间。针对调节阀的控制算法,传统PID与积分分离PID的应用出现了严重超调及动态响应慢的现象,针对这一现象,特对此进行深入分析,设计了具备增量型模糊PID控制算法。稳定了输出,缩短了调节时间,提高了控制精度。最终经过综合研究,设计出一款具有变量喷雾、可实现手/自动控制的农作物喷雾机控制器。对本课题所设计的农作物喷雾控制器进行了室外非行走试验。改变工作压力时,农作物喷雾系统喷头喷雾量与设定喷雾量基本吻合;对农作物喷雾控制器的动态响应进行试验分析,试验结果表明农作物喷雾机在工作状态下,控制器的动态性能良好;最后根据模拟车速的变化,实时记录控制器流量、实际流量与理论设定喷雾量进行分析,试验结果表明农作物喷雾机控制器控制喷雾量可以满足设定要求。
[Abstract]:Precision agriculture is a widely recognized sustainable agriculture, and has gained significant economic and social benefits in foreign countries. In the precise agricultural technology system, precision variable spray is an important component. It is a necessary measure to ensure the amount of drug use per unit area, improve the utilization rate of pesticides and reduce environmental pollution. In the key science and technology project of Kasetsart University, the working principle of the controller of the crop sprayer is analyzed, which is to ensure the spray operation of the spray quantity constant in the unit area of the farm. According to the change of the speed of the sprayer, the data in the spray operation is detected in real time and the spray amount of the spray head is controlled. According to the present situation of the development demand of variable spray technology in precision agriculture in China, this paper studies the precision variable spray control system. According to the working principle of the controller of the crop sprayer, the spray operation that ensures the constant spray volume of the unit surface product, is used for the spray operation. According to the technical requirements, the principle of closed loop control and the working principle of the controller of the crop sprayer are analyzed according to the technical requirements. Through the modular design method, the design scheme of the controller with the MCU as the control core and the regulating valve as the executive mechanism is formulated, and the in-depth research around the scheme is carried out. Firstly, according to the system design scheme and function requirements, the paper selects the related hardware equipment, such as the detection component and the execution component. Because the regulating valve has the characteristic of flow nonlinearity, through the test and analysis of its principle, the output control rules of the increment of u? U are found out according to e,? E and E2? And the rules are used to establish the control rules. The precision of the spray is ensured. Secondly, the hardware circuit of the controller is designed, the control board, the power supply circuit, the signal acquisition circuit and the driving circuit are designed, each module circuit is integrated and the PCB sample is made. Then, the software of the controller is set up, and the C software development platform Keil C51 is used to write the control. Using the timing interruption function of the control board processor to control the regulating valve opening and closing the time. In view of the control algorithm of the regulating valve, the application of the traditional PID and the integral separation PID appears serious overshoot and the dynamic response is slow. In view of this phenomenon, this phenomenon is deeply divided and analyzed, and the incremental fuzzy PID control algorithm is designed. The output, shorten the adjustment time and improve the control precision. Finally, after a comprehensive study, a crop sprayer controller with variable spray and automatic control is designed. The outdoor non walking test of the crop spray controller designed by this project is carried out. When the work pressure is changed, the spray head of the crop spray system is changed. The spray quantity is basically consistent with the set spray quantity, and the dynamic response of the crop spray controller is tested and analyzed. The test results show that the dynamic performance of the controller is good under the working condition of the crop sprayer. Finally, according to the change of the simulated speed, the flow quantity of the controller is recorded in real time, the actual flow and the theory set the spray amount are analyzed. The experimental results show that the sprayer controller can control the spray volume and meet the setting requirements.
【学位授予单位】：东北农业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：S491;TP273
，
本文编号：2127758
[Abstract]:Precision agriculture is a widely recognized sustainable agriculture, and has gained significant economic and social benefits in foreign countries. In the precise agricultural technology system, precision variable spray is an important component. It is a necessary measure to ensure the amount of drug use per unit area, improve the utilization rate of pesticides and reduce environmental pollution. In the key science and technology project of Kasetsart University, the working principle of the controller of the crop sprayer is analyzed, which is to ensure the spray operation of the spray quantity constant in the unit area of the farm. According to the change of the speed of the sprayer, the data in the spray operation is detected in real time and the spray amount of the spray head is controlled. According to the present situation of the development demand of variable spray technology in precision agriculture in China, this paper studies the precision variable spray control system. According to the working principle of the controller of the crop sprayer, the spray operation that ensures the constant spray volume of the unit surface product, is used for the spray operation. According to the technical requirements, the principle of closed loop control and the working principle of the controller of the crop sprayer are analyzed according to the technical requirements. Through the modular design method, the design scheme of the controller with the MCU as the control core and the regulating valve as the executive mechanism is formulated, and the in-depth research around the scheme is carried out. Firstly, according to the system design scheme and function requirements, the paper selects the related hardware equipment, such as the detection component and the execution component. Because the regulating valve has the characteristic of flow nonlinearity, through the test and analysis of its principle, the output control rules of the increment of u? U are found out according to e,? E and E2? And the rules are used to establish the control rules. The precision of the spray is ensured. Secondly, the hardware circuit of the controller is designed, the control board, the power supply circuit, the signal acquisition circuit and the driving circuit are designed, each module circuit is integrated and the PCB sample is made. Then, the software of the controller is set up, and the C software development platform Keil C51 is used to write the control. Using the timing interruption function of the control board processor to control the regulating valve opening and closing the time. In view of the control algorithm of the regulating valve, the application of the traditional PID and the integral separation PID appears serious overshoot and the dynamic response is slow. In view of this phenomenon, this phenomenon is deeply divided and analyzed, and the incremental fuzzy PID control algorithm is designed. The output, shorten the adjustment time and improve the control precision. Finally, after a comprehensive study, a crop sprayer controller with variable spray and automatic control is designed. The outdoor non walking test of the crop spray controller designed by this project is carried out. When the work pressure is changed, the spray head of the crop spray system is changed. The spray quantity is basically consistent with the set spray quantity, and the dynamic response of the crop spray controller is tested and analyzed. The test results show that the dynamic performance of the controller is good under the working condition of the crop sprayer. Finally, according to the change of the simulated speed, the flow quantity of the controller is recorded in real time, the actual flow and the theory set the spray amount are analyzed. The experimental results show that the sprayer controller can control the spray volume and meet the setting requirements.
【学位授予单位】：东北农业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：S491;TP273
，
本文编号：2127758
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