变量喷雾装置喷雾特性及其控制系统的研究
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摘要
变量喷雾技术作为精准农业技术中的重要组成部分,广泛适用于种植业、畜牧业、园艺和林业。发达国家对变量执行机械的研发非常重视,投资巨大,并形成了较为成熟的基于地图的和基于实时传感技术的可变量农药喷施系统。近年来,我国政府部门加大了对农业的财政支持力度,对变量喷雾技术也越来越重视。
变量喷雾技术的核心是获取农田小区域内病虫草害的差异性,采取高效喷雾技术和变量喷施技术,按需施药。本文对国内外变量喷雾技术文献进行了分析与总结,讨论了变量喷雾装置的喷雾特性,设计了变量喷雾控制系统方案及控制回路方案,开发出一套用于实现变量喷雾和实时数据采集的控制系统,并搭建试验台对系统的喷雾流量控制特性进行了试验研究。主要研究内容如下:
(1)对喷杆式喷雾机的结构进行改进,将其设计为具有变量喷雾功能的喷雾装置,并对其变量喷雾控制系统进行了设计;对变量喷雾控制回路方案进行分析和对比,采用了旁路节流调节形式的控制回路并对变量喷雾控制回路的元器件进行了设计和选型。
(2)为了研究变量喷雾装置的喷雾特性,分析了喷杆运动对喷雾效果的影响以及地面激励源对喷杆运动的影响,建立了变量喷雾机喷杆和悬架的模型,对不同激励源下宽幅喷雾机喷杆的动态特性进行了分析和动态仿真,并分析了喷杆的不同运动对喷雾效果的影响。
(3)根据设计的变量喷雾控制系统方案,分析并建立了变量喷雾控制的硬件系统和软件系统,采用基于总线通信的主从结构方式来实现对变量喷雾机的信号实时采集和智能控制。完成了下位机的电路设计、开发以及调试;利用Visual Basic软件开发了用于控制变量喷雾的可执行程序;最后对软件程序进行了综合调试。
(4)根据流量调节要求,研究了变量喷雾系统的自适应模糊PID流量控制算法。考虑到TEEJET 346BR-2型节流阀非线性、迟滞性比较高的特点,采用自适应模糊PID控制算法来实现流量的调节。仿真结果表明该算法在流量控制方面具有一定的优越性。
(5)对变量喷雾控制系统的流量特性及自适应模糊PID控制效果进行了试验分析和验证。对喷雾系统的流量特性进行了试验测试,得到了节流阀开口度与喷雾量之间的关系曲线;验证了自适应模糊PID控制算法的流量响应特性,结果表明自适应模糊PID控制算法能够满足变量喷雾系统的控制要求。
本文的研究工作是开发一套适合我国现阶段农田防治状况,集变量喷雾、实时采集和控制于一体的变量喷雾控制系统,为变量喷雾机的推广和实现提供技术支持。
Variable-rate spraying technology is an important component of precision agriculture technologies. It is widely used in planting, livestock, horticulture and forestry. Developed countries pay a lot of attention and huge investment for the research on variable-rate implementing machines. They have developed mature variable-rate spraying system based on maps or real time sensing technology. During recent years, our government has increased the fiscal support to agriculture and paid more and more attention on variable-rate spraying technology.
The core of variable-rate spraying technology is to get the differences of plant diseases in small farmland areas, take effeicient spraying technology and variable-rate spraying technology to spray according to the need. This paper analyses and summarizes domestic and foreign articles about variable-rate spraying technology. This paper develops a set of control system for variable-rate spraying and dynamic data acquisition, builds the test bench to study the spraying control characteristics of variable-rate system. Its main contents are as follows:
(1) The boom sprayer structure is improved into the spraying device with variable-rate spraying function, and its spraying control system is designed; the variable-rate spraying control loop schemes are analyzed and compared and finally the bypass throttle modulating control circuit is adopted; the components of the variable-rate spraying control loop are designed and selected.
(2) In order to study the spraying characteristics of spraying device, the effect of boom motion on the spraying deposit and the effect of ground excitations on boom motions are analyzed, the sprayer boom and suspention model of variable-rate sprayer is established, the dynamics of wide sprayer boom under different excitations is analyzed and simulated, and the effects of different boom motions on spraying deposit are analyzed.
(3) According to the scheme of variable-rate spraying control system, this paper analyzes and establishes the variable-rate spraying control hardware system and software system, uses the master-slave mode based on bus communication to realize the real-time signal acquisition and intelligen control. The circuit design, development and dubugging of slave computer are completed; the executable program for the control of variable-rate spraying is developed by Visual Basic software; finally the comprehensive debugging of program is finished.
(4) According to the flow regulating requirements, a fuzzy PID flow control algorithm of variable-rate system is studied. Considering the nonlinearity and high delay of TEEJET 346BR-2 electric regulating ball valve, the fuzzy PID control algorithm is adapted to achiece the flow adjustment. The simulation results show that the altorithm has certain superiority in flow control.
(5) The throttle characteristics and the effect of adaptive fuzzy PID control of variable-rate spraying control system is analyzed and tested by experiments. The flow characteristics of throttle valve are tested and the relationship curve between the throttle valve opening degree and the amount of spray is getted; the flow response characteristics under fuzzy PID control is tested and the results show that this control algorithm can meet the control requirements of variable-rate spraying system.
The research work of this thesis is to develop s set of variable-rate spraying control system which suits the present farmland management conditions in our country and could realize variable-rate spraying, real-tiem data acquisition and control. It provides technical support for sprayer promotion and realization.
变量喷雾技术的核心是获取农田小区域内病虫草害的差异性,采取高效喷雾技术和变量喷施技术,按需施药。本文对国内外变量喷雾技术文献进行了分析与总结,讨论了变量喷雾装置的喷雾特性,设计了变量喷雾控制系统方案及控制回路方案,开发出一套用于实现变量喷雾和实时数据采集的控制系统,并搭建试验台对系统的喷雾流量控制特性进行了试验研究。主要研究内容如下:
(1)对喷杆式喷雾机的结构进行改进,将其设计为具有变量喷雾功能的喷雾装置,并对其变量喷雾控制系统进行了设计;对变量喷雾控制回路方案进行分析和对比,采用了旁路节流调节形式的控制回路并对变量喷雾控制回路的元器件进行了设计和选型。
(2)为了研究变量喷雾装置的喷雾特性,分析了喷杆运动对喷雾效果的影响以及地面激励源对喷杆运动的影响,建立了变量喷雾机喷杆和悬架的模型,对不同激励源下宽幅喷雾机喷杆的动态特性进行了分析和动态仿真,并分析了喷杆的不同运动对喷雾效果的影响。
(3)根据设计的变量喷雾控制系统方案,分析并建立了变量喷雾控制的硬件系统和软件系统,采用基于总线通信的主从结构方式来实现对变量喷雾机的信号实时采集和智能控制。完成了下位机的电路设计、开发以及调试;利用Visual Basic软件开发了用于控制变量喷雾的可执行程序;最后对软件程序进行了综合调试。
(4)根据流量调节要求,研究了变量喷雾系统的自适应模糊PID流量控制算法。考虑到TEEJET 346BR-2型节流阀非线性、迟滞性比较高的特点,采用自适应模糊PID控制算法来实现流量的调节。仿真结果表明该算法在流量控制方面具有一定的优越性。
(5)对变量喷雾控制系统的流量特性及自适应模糊PID控制效果进行了试验分析和验证。对喷雾系统的流量特性进行了试验测试,得到了节流阀开口度与喷雾量之间的关系曲线;验证了自适应模糊PID控制算法的流量响应特性,结果表明自适应模糊PID控制算法能够满足变量喷雾系统的控制要求。
本文的研究工作是开发一套适合我国现阶段农田防治状况,集变量喷雾、实时采集和控制于一体的变量喷雾控制系统,为变量喷雾机的推广和实现提供技术支持。
Variable-rate spraying technology is an important component of precision agriculture technologies. It is widely used in planting, livestock, horticulture and forestry. Developed countries pay a lot of attention and huge investment for the research on variable-rate implementing machines. They have developed mature variable-rate spraying system based on maps or real time sensing technology. During recent years, our government has increased the fiscal support to agriculture and paid more and more attention on variable-rate spraying technology.
The core of variable-rate spraying technology is to get the differences of plant diseases in small farmland areas, take effeicient spraying technology and variable-rate spraying technology to spray according to the need. This paper analyses and summarizes domestic and foreign articles about variable-rate spraying technology. This paper develops a set of control system for variable-rate spraying and dynamic data acquisition, builds the test bench to study the spraying control characteristics of variable-rate system. Its main contents are as follows:
(1) The boom sprayer structure is improved into the spraying device with variable-rate spraying function, and its spraying control system is designed; the variable-rate spraying control loop schemes are analyzed and compared and finally the bypass throttle modulating control circuit is adopted; the components of the variable-rate spraying control loop are designed and selected.
(2) In order to study the spraying characteristics of spraying device, the effect of boom motion on the spraying deposit and the effect of ground excitations on boom motions are analyzed, the sprayer boom and suspention model of variable-rate sprayer is established, the dynamics of wide sprayer boom under different excitations is analyzed and simulated, and the effects of different boom motions on spraying deposit are analyzed.
(3) According to the scheme of variable-rate spraying control system, this paper analyzes and establishes the variable-rate spraying control hardware system and software system, uses the master-slave mode based on bus communication to realize the real-time signal acquisition and intelligen control. The circuit design, development and dubugging of slave computer are completed; the executable program for the control of variable-rate spraying is developed by Visual Basic software; finally the comprehensive debugging of program is finished.
(4) According to the flow regulating requirements, a fuzzy PID flow control algorithm of variable-rate system is studied. Considering the nonlinearity and high delay of TEEJET 346BR-2 electric regulating ball valve, the fuzzy PID control algorithm is adapted to achiece the flow adjustment. The simulation results show that the altorithm has certain superiority in flow control.
(5) The throttle characteristics and the effect of adaptive fuzzy PID control of variable-rate spraying control system is analyzed and tested by experiments. The flow characteristics of throttle valve are tested and the relationship curve between the throttle valve opening degree and the amount of spray is getted; the flow response characteristics under fuzzy PID control is tested and the results show that this control algorithm can meet the control requirements of variable-rate spraying system.
The research work of this thesis is to develop s set of variable-rate spraying control system which suits the present farmland management conditions in our country and could realize variable-rate spraying, real-tiem data acquisition and control. It provides technical support for sprayer promotion and realization.
引文
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