Design and Experiment of Variable Rate Application System Based on Fuzzy PI Control
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摘要:
针对国内现有农田喷药机的定量施药方式，设计了一套基于模糊PI控制的变量施药系统。该系统采用多传感器实时采集喷药机车速、流量、压力等参数，并以此为控制依据，通过改变比例阀开度实时调整管道内药液流量，同时控制多组喷头的开闭。该系统采用主路流量调节方案，5组开关电磁阀控制多组喷头。喷药机喷头流量控制试验与田间喷药试验结果表明，单个喷头流量误差＜2.5%，模糊PI控制优于传统PI控制，田间喷药误差＜2.2%。
Abstract:According to quantitative application mode of existing farmland spraying machine in China, a set of variable application system based on fuzzy PI control was designed．The system used multi-sensors to collect parameters such as speed, flow rate and pressure of sprayer in real time, and took this as control basis, liquid flow in pipeline was adjusted in real time by changing opening of proportional valve, and controled opening and closing of several groups of nozzles at the same time．The system adopted flow regulation scheme of main road, and five groups of switching solenoid valves control multiple groups of sprinklers．The flow control test and field spraying test of sprayer nozzle were carried out．Results showed that flow error of a single sprinkler was less than 2.5%, fuzzy PI control was better than traditional PI control, and field spray error was less than 2.2%．
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Keywords:
- satellite /
- sensors /
- fuzzy PID /
- variable application
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图 1 变量施药系统组成与管路结构
1. 过滤器 2. 隔膜泵 3. 北斗测速系统 4. 变量喷药控制器 5. 流量传感器 6. 压力传感器 7. 雾化喷头 8. 开关电磁阀 9. 变量喷药阀组10. 药箱 11. 溢流阀 12. 主阀 13. 液位传感器
Figure 1. Composition and pipeline structure of variable spraying system
图 5 变量喷药PI与模糊PI控制系统对比仿真
Figure 5. Comparison and simulation of variable spraying PI and fuzzy PI control system
图 6 变量喷药系统阶跃信号响应曲线对比
Figure 6. Comparison of step signal response curves of variable spraying system
图 7 变量喷药系统正弦信号响应曲线对比
Figure 7. Comparison of sinusoidal signal response curves of variable spraying system
表 1 变量喷药系统KP模糊规则
Table 1. KP fuzzy rules of variable spraying system
ea e NM ZE NS PM PS NM PM PM PM PM PM ZE ZE NS ZE ZE ZE NS PS PS PS NS PS PM PM PM PM PM PM PS PS PS PS PS PS 
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表 2 变量喷药系统TI模糊规则
Table 2. TI fuzzy rules of variable spraying system
ea e NM ZE NS PM PS NM ZE PS PS NM NM ZE ZE PM PB PM PS NS NS PM PM PM ZE PM NM NM NM NM NM PS PM PM PM PM ZE
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表 3 喷头流量精度对比试验
Table 3. Comparison test of nozzle flow accuracy
目标流量/
（L·min−1）喷头关闭
数量喷头理论流量/
（L·min−1）喷头实际流量/
（L·min−1）喷药量
误差/%30 0 0.625 0.637 1.92 0.626 0.16 0.629 0.64 0.617 −1.28 0.619 −0.96 40 1 1.027 1.002 −2.43 1.047 1.95 1.050 2.24 1.049 2.14 1.016 −1.07 60 2 2.069 2.022 −2.27 2.102 1.59 2.089 0.97 2.052 0.82 2.073 0.19
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表 4 田间综合喷药试验
Table 4. Field comprehensive spraying test
普适性能试验 理论喷药量/(L·hm2) 行驶速度/(km·h−1) 管道流量/(L·min−1) 喷头关闭组数 控制方式 实际喷药量/(L·hm−2) 喷药量误差/% 定速试验 200 6 48.1 0 PI 204.8 2.40 7 45.3 1 模糊PI 199.2 −0.40 8 40.0 2 PI 198.5 −0.75 9 45.0 2 模糊PI 202.6 1.30 300 9 107.9 0 PI 307.1 2.37 8 77.9 1 模糊PI 305.2 1.73 7 45.3 1 PI 298.6 −0.47 6 45.0 2 模糊PI 299.4 −0.20 变速试验 200 5～9 0 PI 197.5 −1.25 1 模糊PI 205.8 2.90 2 PI 207.4 3.70 2 模糊PI 204.3 2.15 300 5～9 0 PI 294.3 −0.19 1 模糊PI 303.8 1.27 1 PI 302.4 0.80 2 模糊PI 295.6 −1.47
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