本文選題：太陽能 + 噴灌機(jī)組��； 參考：《西北農(nóng)林科技大學(xué)》2017年博士論文

【摘要】：灌溉機(jī)械的發(fā)展是促進(jìn)農(nóng)業(yè)發(fā)展、提高作物產(chǎn)量的保障因素之一。然而隨著全球能源和淡水資源短缺危機(jī)的加劇,灌溉已受到水和能源的雙重制約。如何在節(jié)水的同時(shí)節(jié)約能源進(jìn)行灌溉已成為現(xiàn)代農(nóng)業(yè)節(jié)水發(fā)展中的必然趨勢(shì)。在眾多的灌溉機(jī)械設(shè)備中,移動(dòng)式噴灌機(jī)組因其自動(dòng)化程度高、人工投入少、移動(dòng)方便等諸多優(yōu)點(diǎn),被廣泛應(yīng)用,而國內(nèi)目前使用較多的移動(dòng)式噴灌機(jī)組多為國外進(jìn)口,進(jìn)口機(jī)組雖然效率較高,但是結(jié)構(gòu)較大,與中國目前的農(nóng)業(yè)發(fā)展模式(以小農(nóng)戶和一些種植大戶為主)不相符,很難在農(nóng)業(yè)灌溉中大面積推廣。而且在機(jī)組的使用過程中需要電網(wǎng)或者發(fā)電機(jī)進(jìn)行電力供應(yīng),這在一些偏遠(yuǎn)缺電地區(qū)或是用電高峰期難以得到保障,使這些缺水、缺電地區(qū)不能進(jìn)行適時(shí)灌溉。太陽能作為清潔環(huán)保的新型能源,取之不盡用之不竭。通過將太陽能技術(shù)和節(jié)水灌溉技術(shù)結(jié)合起來,以太陽能作為能源短缺地區(qū)的灌溉動(dòng)力,組成太陽能驅(qū)動(dòng)移動(dòng)式噴灌機(jī)組,不僅與我國目前的農(nóng)業(yè)生產(chǎn)布局相適應(yīng),而且能夠很好解決水資源短缺、灌溉電力短缺、電力傳輸困難,提高灌溉效率等問題,是我國社會(huì)以及生態(tài)可持續(xù)發(fā)展的一條重要途徑,具有很大的發(fā)展?jié)摿褪袌?chǎng)前景。但由于目前對(duì)太陽能噴灌機(jī)組在推廣應(yīng)用中的行走動(dòng)力需求、光伏電池配備以及自主導(dǎo)航等關(guān)鍵問題和技術(shù)研究較少,導(dǎo)致產(chǎn)品不成熟,距離推廣應(yīng)用還具有一定差距。鑒于上述背景,本文以課題組自行研發(fā)的太陽能驅(qū)動(dòng)移動(dòng)式噴灌機(jī)組為研究平臺(tái),對(duì)太陽能噴灌機(jī)組的行走動(dòng)力需求與光伏功率匹配設(shè)計(jì)理論和方法進(jìn)行了初步探討,建立一種太陽能驅(qū)動(dòng)噴灌機(jī)組行走動(dòng)力計(jì)算和光伏功率匹配設(shè)計(jì)方法;在此基礎(chǔ)上,根據(jù)課題組太陽能噴灌機(jī)組的結(jié)構(gòu)特點(diǎn),選擇合適的轉(zhuǎn)向方式,設(shè)計(jì)了一套針對(duì)太陽能噴灌機(jī)組的導(dǎo)航控制系統(tǒng),并進(jìn)行了相關(guān)試驗(yàn)。取得的主要結(jié)論如下:(1)以課題組自行研發(fā)的太陽能驅(qū)動(dòng)噴灌機(jī)組為研究平臺(tái),針對(duì)太陽能噴灌機(jī)組驅(qū)動(dòng)系統(tǒng)的獨(dú)特要求,對(duì)太陽能噴灌機(jī)組行走驅(qū)動(dòng)系統(tǒng)及光伏匹配設(shè)計(jì)進(jìn)行了研究,構(gòu)建了一種針對(duì)太陽能噴灌機(jī)組行走驅(qū)動(dòng)動(dòng)力與光伏功率匹配設(shè)計(jì)方法,包括其中關(guān)鍵參數(shù)的理論計(jì)算和設(shè)計(jì)校核。并對(duì)噴灌機(jī)組行走驅(qū)動(dòng)需求功率進(jìn)行了試驗(yàn)測(cè)試,結(jié)果表明噴灌機(jī)組行走驅(qū)動(dòng)功率實(shí)測(cè)值與理論計(jì)算值基本吻合,進(jìn)一步驗(yàn)證了行走驅(qū)動(dòng)功率理論計(jì)算的可靠性,以典型晴天下系統(tǒng)最長工作時(shí)間作為評(píng)價(jià)指標(biāo)進(jìn)行了光伏供電測(cè)試試驗(yàn)。試驗(yàn)結(jié)果表明:夏季典型晴天下,光伏供電系統(tǒng)發(fā)電量充足,可完全滿足噴灌機(jī)組設(shè)計(jì)的日工作時(shí)間,噴灌機(jī)組光伏供電系統(tǒng)設(shè)計(jì)合理、有效。機(jī)組累積最大工作時(shí)間隨機(jī)組噴灌功率和運(yùn)行速度減小而變長。以試驗(yàn)當(dāng)天為例,當(dāng)機(jī)組以最大設(shè)計(jì)流量和最大行駛速度運(yùn)行,蓄電池組電量充滿狀態(tài)下,單獨(dú)由蓄電池組供電可供機(jī)組連續(xù)運(yùn)行8.1h,光伏發(fā)電量可供機(jī)組連續(xù)運(yùn)行11.6h,兩者電量總和可供機(jī)組連續(xù)運(yùn)行接近20h;以機(jī)組設(shè)計(jì)日8小時(shí)工作時(shí)間為準(zhǔn),在2016年7月進(jìn)行了為期一個(gè)月的光伏供電監(jiān)測(cè),結(jié)果顯示系統(tǒng)總?cè)彪姇r(shí)數(shù)8.75小時(shí),占系統(tǒng)總供電時(shí)長的3.5%,表明光伏供電系統(tǒng)可靠性較高。(2)基于航位推算,建立了噴灌機(jī)組卡爾曼濾波多傳感器組合定位算法。算法融合GPS信息、電子羅盤信息和車速信息,降低了系統(tǒng)測(cè)量誤差對(duì)系統(tǒng)所造成的干擾。仿真和試驗(yàn)結(jié)果表明:所建立的基于卡爾曼濾波的組合導(dǎo)航定位方法雖然沒有完全消除噪聲,但是在一定程度上降低了噪聲對(duì)系統(tǒng)的影響,通過遞推方法對(duì)系統(tǒng)狀態(tài)進(jìn)行估計(jì)和校正來獲得對(duì)測(cè)量結(jié)果較為準(zhǔn)確的描述,從而提高了結(jié)果的可信度和容錯(cuò)能力。(3)采用差速轉(zhuǎn)向,建立了噴灌機(jī)組四輪差速轉(zhuǎn)向的運(yùn)動(dòng)學(xué)模型,并以建立的差速轉(zhuǎn)向運(yùn)動(dòng)學(xué)模型作為控制對(duì)象,運(yùn)用線性跟蹤模型和模糊控制算法構(gòu)建了噴灌機(jī)組沿著預(yù)定路線進(jìn)行路徑跟蹤的兩側(cè)車輪轉(zhuǎn)速?zèng)Q策算法,并進(jìn)行了路徑跟蹤仿真和試驗(yàn)。結(jié)果表明:線性模型決策算法與模糊控制決策算法都能使噴灌機(jī)組沿著預(yù)定路徑自動(dòng)行走,試驗(yàn)過程中路徑跟蹤橫向偏差不超過30cm。采用線性模型決策算法,噴灌機(jī)組在以0.4m/min和0.8m/min速度行走過程中,最大偏差為18.4cm,跟蹤過程中存在來回震蕩現(xiàn)象;采用模糊控制決策算法,在以0.5m/min和1m/min速度行駛過程中均能消除橫向偏差,運(yùn)行過程中相對(duì)平穩(wěn),說明與采用線性控制模型相比,采用模糊控制方法可提高系統(tǒng)穩(wěn)定性,平滑機(jī)組運(yùn)行軌跡,驗(yàn)證了導(dǎo)航控制算法的有效性。(4)為檢測(cè)噴灌機(jī)組噴灑效果,進(jìn)行了噴灌機(jī)組在0.5m/min和1m/min行駛速度下的整機(jī)噴灑效果試驗(yàn)。試驗(yàn)結(jié)果表明:機(jī)組在0.5m/min速度下,平均灌水深度為19.69mm,噴灌均勻度為0.763;在1m/min速度時(shí),平均灌水深度為9.91mm,噴灌均勻度為0.766。在噴灌機(jī)組入口壓力不變,機(jī)組出流量一定時(shí),隨著噴灌機(jī)組速度的增加,平均噴灑水量減少,但噴灌均勻度變化較小。
[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.

【學(xué)位授予單位】：西北農(nóng)林科技大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：S277.94

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