農(nóng)作物噴霧機控制器的研究與設(shè)計及非行走試驗分析
發(fā)布時間：2018-07-16 21:44
【摘要】：精準農(nóng)業(yè)是被廣泛承認的可持續(xù)發(fā)展農(nóng)業(yè),并在國外已經(jīng)獲得了顯著的經(jīng)濟和社會效益。在精確農(nóng)業(yè)技術(shù)體系中,精準變量噴霧是一個重要的組成部分,是保證單位面積施藥量、提高農(nóng)藥利用率、降低環(huán)境污染的必要措施。本文結(jié)合東北農(nóng)業(yè)大學重點科技攻關(guān)項目,圍繞變量噴藥目的,分析農(nóng)作物噴霧機控制器的工作原理即保證農(nóng)田單位面積噴霧量恒定的噴霧作業(yè),根據(jù)噴霧機的車速變化,對噴霧作業(yè)中的數(shù)據(jù)進行實時的檢測并控制噴頭噴霧量。對農(nóng)作物噴霧控制系統(tǒng)整體設(shè)計,進行了深入非行走試驗分析研究。針對我國精準農(nóng)業(yè)中變量噴霧技術(shù)的發(fā)展需求現(xiàn)狀,本文對精準變量噴霧控制系統(tǒng)進行研究。根據(jù)農(nóng)作物噴霧機控制器的工作原理即保證農(nóng)田單位面積噴霧量恒定的噴霧作業(yè),對噴霧作業(yè)中的數(shù)據(jù)進行實時的檢測,為設(shè)計的核心內(nèi)容。依據(jù)技術(shù)要求,借助閉環(huán)控制原理和農(nóng)作物噴霧機控制器工作原理的分析,通過模塊化設(shè)計方法,制定了以單片機為控制核心,調(diào)節(jié)閥為執(zhí)行機構(gòu)的控制器設(shè)計方案,圍繞方案展開深入的研究。論文首先根據(jù)系統(tǒng)設(shè)計方案與功能要求,對檢測部件、執(zhí)行部件等相關(guān)硬件設(shè)備進行了選型,由于調(diào)節(jié)閥具有流量非線性的特點,通過試驗并分析其原理,根據(jù)e、?e和e2?找出u的增量?u的輸出控制規(guī)則,并用這些規(guī)則來建立控制規(guī)則,從而保證噴霧量的精準度。其次對控制器的硬件電路進行了設(shè)計,重點對控制板,電源電路,信號采集電路以及驅(qū)動電路進行設(shè)計,整合各個模塊電路并制作PCB樣板。然后,對控制器的軟件進行了設(shè)計,選用C語言軟件開發(fā)平臺Keil C51編寫控制器程序,利用控制板處理器的定時中斷功能控制調(diào)節(jié)閥開、關(guān)時間。針對調(diào)節(jié)閥的控制算法,傳統(tǒng)PID與積分分離PID的應(yīng)用出現(xiàn)了嚴重超調(diào)及動態(tài)響應(yīng)慢的現(xiàn)象,針對這一現(xiàn)象,特對此進行深入分析,設(shè)計了具備增量型模糊PID控制算法。穩(wěn)定了輸出,縮短了調(diào)節(jié)時間,提高了控制精度。最終經(jīng)過綜合研究,設(shè)計出一款具有變量噴霧、可實現(xiàn)手/自動控制的農(nóng)作物噴霧機控制器。對本課題所設(shè)計的農(nóng)作物噴霧控制器進行了室外非行走試驗。改變工作壓力時,農(nóng)作物噴霧系統(tǒng)噴頭噴霧量與設(shè)定噴霧量基本吻合;對農(nóng)作物噴霧控制器的動態(tài)響應(yīng)進行試驗分析,試驗結(jié)果表明農(nóng)作物噴霧機在工作狀態(tài)下,控制器的動態(tài)性能良好;最后根據(jù)模擬車速的變化,實時記錄控制器流量、實際流量與理論設(shè)定噴霧量進行分析,試驗結(jié)果表明農(nóng)作物噴霧機控制器控制噴霧量可以滿足設(shè)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.
【學位授予單位】：東北農(nóng)業(yè)大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：S491;TP273
，
本文編號：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.
【學位授予單位】：東北農(nóng)業(yè)大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：S491;TP273
，
本文編號：2127758
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