太阳能驱动喷灌机组行走动力与导航控制研究

发布时间：2018-04-19 01:39

本文选题：太阳能 + 喷灌机组　；参考：《西北农林科技大学》2017年博士论文

【摘要】：灌溉机械的发展是促进农业发展、提高作物产量的保障因素之一。然而随着全球能源和淡水资源短缺危机的加剧,灌溉已受到水和能源的双重制约。如何在节水的同时节约能源进行灌溉已成为现代农业节水发展中的必然趋势。在众多的灌溉机械设备中,移动式喷灌机组因其自动化程度高、人工投入少、移动方便等诸多优点,被广泛应用,而国内目前使用较多的移动式喷灌机组多为国外进口,进口机组虽然效率较高,但是结构较大,与中国目前的农业发展模式(以小农户和一些种植大户为主)不相符,很难在农业灌溉中大面积推广。而且在机组的使用过程中需要电网或者发电机进行电力供应,这在一些偏远缺电地区或是用电高峰期难以得到保障,使这些缺水、缺电地区不能进行适时灌溉。太阳能作为清洁环保的新型能源,取之不尽用之不竭。通过将太阳能技术和节水灌溉技术结合起来,以太阳能作为能源短缺地区的灌溉动力,组成太阳能驱动移动式喷灌机组,不仅与我国目前的农业生产布局相适应,而且能够很好解决水资源短缺、灌溉电力短缺、电力传输困难,提高灌溉效率等问题,是我国社会以及生态可持续发展的一条重要途径,具有很大的发展潜力和市场前景。但由于目前对太阳能喷灌机组在推广应用中的行走动力需求、光伏电池配备以及自主导航等关键问题和技术研究较少,导致产品不成熟,距离推广应用还具有一定差距。鉴于上述背景,本文以课题组自行研发的太阳能驱动移动式喷灌机组为研究平台,对太阳能喷灌机组的行走动力需求与光伏功率匹配设计理论和方法进行了初步探讨,建立一种太阳能驱动喷灌机组行走动力计算和光伏功率匹配设计方法;在此基础上,根据课题组太阳能喷灌机组的结构特点,选择合适的转向方式,设计了一套针对太阳能喷灌机组的导航控制系统,并进行了相关试验。取得的主要结论如下:(1)以课题组自行研发的太阳能驱动喷灌机组为研究平台,针对太阳能喷灌机组驱动系统的独特要求,对太阳能喷灌机组行走驱动系统及光伏匹配设计进行了研究,构建了一种针对太阳能喷灌机组行走驱动动力与光伏功率匹配设计方法,包括其中关键参数的理论计算和设计校核。并对喷灌机组行走驱动需求功率进行了试验测试,结果表明喷灌机组行走驱动功率实测值与理论计算值基本吻合,进一步验证了行走驱动功率理论计算的可靠性,以典型晴天下系统最长工作时间作为评价指标进行了光伏供电测试试验。试验结果表明:夏季典型晴天下,光伏供电系统发电量充足,可完全满足喷灌机组设计的日工作时间,喷灌机组光伏供电系统设计合理、有效。机组累积最大工作时间随机组喷灌功率和运行速度减小而变长。以试验当天为例,当机组以最大设计流量和最大行驶速度运行,蓄电池组电量充满状态下,单独由蓄电池组供电可供机组连续运行8.1h,光伏发电量可供机组连续运行11.6h,两者电量总和可供机组连续运行接近20h;以机组设计日8小时工作时间为准,在2016年7月进行了为期一个月的光伏供电监测,结果显示系统总缺电时数8.75小时,占系统总供电时长的3.5%,表明光伏供电系统可靠性较高。(2)基于航位推算,建立了喷灌机组卡尔曼滤波多传感器组合定位算法。算法融合GPS信息、电子罗盘信息和车速信息,降低了系统测量误差对系统所造成的干扰。仿真和试验结果表明:所建立的基于卡尔曼滤波的组合导航定位方法虽然没有完全消除噪声,但是在一定程度上降低了噪声对系统的影响,通过递推方法对系统状态进行估计和校正来获得对测量结果较为准确的描述,从而提高了结果的可信度和容错能力。(3)采用差速转向,建立了喷灌机组四轮差速转向的运动学模型,并以建立的差速转向运动学模型作为控制对象,运用线性跟踪模型和模糊控制算法构建了喷灌机组沿着预定路线进行路径跟踪的两侧车轮转速决策算法,并进行了路径跟踪仿真和试验。结果表明:线性模型决策算法与模糊控制决策算法都能使喷灌机组沿着预定路径自动行走,试验过程中路径跟踪横向偏差不超过30cm。采用线性模型决策算法,喷灌机组在以0.4m/min和0.8m/min速度行走过程中,最大偏差为18.4cm,跟踪过程中存在来回震荡现象;采用模糊控制决策算法,在以0.5m/min和1m/min速度行驶过程中均能消除横向偏差,运行过程中相对平稳,说明与采用线性控制模型相比,采用模糊控制方法可提高系统稳定性,平滑机组运行轨迹,验证了导航控制算法的有效性。(4)为检测喷灌机组喷洒效果,进行了喷灌机组在0.5m/min和1m/min行驶速度下的整机喷洒效果试验。试验结果表明:机组在0.5m/min速度下,平均灌水深度为19.69mm,喷灌均匀度为0.763;在1m/min速度时,平均灌水深度为9.91mm,喷灌均匀度为0.766。在喷灌机组入口压力不变,机组出流量一定时,随着喷灌机组速度的增加,平均喷洒水量减少,但喷灌均匀度变化较小。
[Abstract]:The development of irrigation machinery is to promote agricultural development, improve the protection of one of the factors of crop yield. However, with the global shortage of fresh water resources and energy crisis intensifies, irrigation has restricted water and energy. How to save energy for irrigation in the water at the same time has become an inevitable trend in the development of modern agricultural water-saving irrigation equipment in many. In the mobile unit sprinkler system because of its high degree of automation, artificial advantages of less investment, easy to move, is widely used, and the movable sprinkler currently used more for foreign imports, the import unit has higher efficiency, but the structure is large, and the present agricultural development mode (China to small farmers and some large plantations mainly) do not match, it is difficult to spread in a large area of agricultural irrigation. But in the process of using unit in the power grid or generator power supply needs This should, in some remote areas lack or is difficult to be guaranteed by the peak period, the water shortage areas can not be timely irrigation. As a new type of solar energy, clean and inexhaustible. By combining solar technology and water-saving technology, using solar energy as energy shortage in irrigation power, solar powered mobile. Sprinkler, not only to adapt to China's current layout of agricultural production, but also can well solve the shortage of water resources, irrigation power shortage, power transmission difficulties, improve irrigation efficiency, is an important way for China's social and ecological sustainable development, has great development potential and market prospects but. Due to the current demand for solar power walking unit sprinkler system in the application of the photovoltaic cell and equipped with autonomous navigation technology and key issues Research less, cause the product is not mature, but also has a certain gap distance application. In view of the above background, this paper research group self-developed solar powered mobile unit sprinkler system as the research platform of solar sprinkler walking power requirements and photovoltaic power match design theory and method were discussed, the establishment of a solar energy driving sprinkler running power calculation and photovoltaic power matching design method; on this basis, according to the structure of the research group of solar unit sprinkler system, choose the right way to design a navigation control system, a set of solar unit sprinkler system, and related experiments are performed. The main conclusions are as follows: (1) in the research group a self-developed solar driven unit sprinkler system as the research platform, the unique requirements for solar irrigation machine drive system, the solar energy unit sprinkler system Drive system and PV, design of walking was studied, aiming at constructing a solar unit sprinkler system driving power and photovoltaic power matching design method, including the key parameters of the theoretical calculation and design verification. And the sprinkler driving power demand in the test results show that the sprinkler driving power and the measured value the calculated value is basically consistent, further verify the reliability of the theoretical calculation of the driving power, taking the typical sunny day the longest working time as the photovoltaic power supply test index. The experimental results show that the typical summer sunny day, photovoltaic power supply system of power supply, can fully meet the sprinkler design work day, PV the power supply system of unit sprinkler system design is reasonable and effective. The unit cumulative maximum working time and speed of random group irrigation power Decreased to test day long. For example, when the unit is in the maximum design flow and maximum speed of operation, battery full charge state, separate from the storage battery power supply unit for continuous operation of 8.1h photovoltaic power generation unit for continuous operation of 11.6h, the total electricity available for continuous operation in units near 20h; the unit design on 8 hours of work time shall prevail, the photovoltaic power supply monitoring for a month in July 2016, the results show that the system outage total of 8.75 hours, the total system power supply when the length of the 3.5%, that photovoltaic power supply system with high reliability. (2) based on dead reckoning, a sprinkler Calman filter for multi sensor integrated positioning algorithm. Information fusion algorithm of GPS, electronic compass information and speed information, reduce the interference caused by the error of measurement system. The simulation and experiment results show that: Based on the established Integrated navigation method of Calman filter while not completely eliminate noise, but reduces the impact of noise on the system in a certain extent, through the recursive method of system state estimation and correction to obtain more accurate measurement results for the description, so as to improve the reliability of the results. And the fault-tolerant ability. (3) using differential steering to establish the kinematics model of unit sprinkler system, four wheel differential steering, and to establish the differential steering kinematics model as a control object, using the linear tracking model and fuzzy control algorithm is developed for sprinkler path on both sides of the wheel speed decision algorithm tracking along a predetermined route, and path tracking simulation and test are carried out. The results showed that: the decision algorithm of linear model and fuzzy control algorithm can make the decision unit sprinkler system along the predetermined path of automatic walking, in the process of test path tracking lateral deflection No more than 30cm. using a linear model of decision algorithm, sprinkler irrigation system in 0.4m/min and 0.8m/min in the process of walking speed, the maximum deviation is 18.4cm, and shock phenomenon in the process of tracking; fuzzy control decision algorithm, based on 0.5m/min and 1m/min in the process of running speed can eliminate lateral deviation, operation process is relatively stable, and based on the linear control model, fuzzy control method can improve the system stability, trajectory smoothing unit, verify the effectiveness of the navigation control algorithm. (4) for the detection of sprinkler spray effect of irrigation machine in 0.5m/min and 1m/min running speed under the effect of spraying test. The experimental results show that the unit in 0.5m/min speed, average irrigation depth is 19.69mm, irrigation uniformity is 0.763; at 1m/min speed, the average water depth is 9.91mm, the sprinkler irrigation uniformity for 0.766. in spray When the inlet pressure of the unit is constant, when the flow rate of the unit is fixed, the average sprinkler water volume decreases with the increase of the speed of the sprinkler unit, but the change of the uniformity of the sprinkler irrigation is small.

【学位授予单位】：西北农林科技大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：S277.94

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