CN101587332A - Control system and control method for vehicle mounted variable farm chemical applying machine - Google Patents
Control system and control method for vehicle mounted variable farm chemical applying machine Download PDFInfo
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- CN101587332A CN101587332A CNA2009100220250A CN200910022025A CN101587332A CN 101587332 A CN101587332 A CN 101587332A CN A2009100220250 A CNA2009100220250 A CN A2009100220250A CN 200910022025 A CN200910022025 A CN 200910022025A CN 101587332 A CN101587332 A CN 101587332A
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Abstract
The invention discloses a control system for a vehicle mounted variable farm chemical applying machine, which comprises a core processor singlechip, a speed sensor, a flow sensor, a keyboard, a display screen, an electrical ball valve, a direct current voltage reducing and stabilizing circuit and a direct current boost regulator, wherein the core processor singlechip is used for completing the calculation of vehicle speed and actual flow rate, the drive of the keyboard and the electrical ball valve, the display of an LCD and the implementation of a control algorithm; the speed sensor is used for measuring the travel speed of the farm chemical applying machine; the flow sensor is used for measuring a spray value in real time; the electrical ball valve is used for controlling the flow in a farm chemical applying pipe; the direct current voltage reducing and stabilizing circuit is used for converting a DC 12v voltage of a vehicle mounted battery jar into a DC 5v voltage that can be used by a control circuit; and the direct current boost regulator is used for converting the DC 12v voltage of the vehicle mounted battery jar into a DC 24v voltage that is used for supplying power to the electrical ball valve. The system can automatically change the spray amount according to the travel speed of the farm chemical applying machine to keep constant farm chemical application amount, has a better atomization effect, reduces the residue and pollution to environment of farm chemicals, and meets agricultural requirements.
Description
Technical field
The invention belongs to agricultural machinery technological field, relate to a kind of vehicle mounted variable farm chemical applying machine, particularly a kind of vehicle mounted variable farm chemical applying machine control system and control method thereof.
Background technology
Chemical control is one of important agriculture production technology, plays an important role in agricultural production.According to FAO's statistics, owing to use chemical pesticide, every year is retrieved 20%～25% agricultural product in the whole world, is worth more than 1,000 hundred million dollars.Be to drop into the recoverable agricultural product that are equivalent to 4～5 times of value of agricultural chemicals of a agricultural chemicals substantially.China accounts for 8.8% of national total output of grain because of about 4,000 ten thousand t of various disease and pest loss grains every year.For realize combating a natural disaster, impairment, synergy, reduce pollution to environment, key point is to improve the technical merit of dispenser equipment, also is to solve restriction China chemical control " bottleneck " problem in applying.
Prior art exists formulation rate still to can not get control, the dispenser homogeneity is not high, error is very big, often causing medicine is not that executed is exactly Shi Shaoliao more, dose is executed can not reach expection weeding and pest-killing effect when on the low side, pollute the environment again when dose is on the high side, and increase use cost, even cause the defective of the serious underproduction of crop.
Summary of the invention
With not enough, the object of the present invention is to provide a kind of structure tube list that has at above-mentioned problems of the prior art, operate tube just, the vehicle mounted variable farm chemical applying machine control system that cost is low.The formulation rate of the unit area that this system can set according to the user, change spray value automatically when the dispenser machine speed of travel changes is intended to realize that the formulation rate under the speed change driving conditions is constant.
The mentality of designing of control system of the present invention mainly shows two aspects: during the locomotive driving velocity variations, change its spray value accordingly, just can realize that the formulation rate of unit area is constant; Spray value be with the loading pipeline in flow be directly proportional, and in the flow system of electrical ball valve control, can change its flow, and then change spray value by the aperture that changes electrical ball valve.
Another object of the present invention is to provide control method.
The technical scheme that realizes the foregoing invention purpose is: a kind of vehicle mounted variable farm chemical applying machine control system comprises:
A core processor is used to finish the driving of calculating, keyboard and the electrical ball valve of the speed of a motor vehicle and actual flow, the demonstration of LCD and the enforcement of control algolithm;
A speed pickup is used for measuring the speed of travel of dispenser facility;
A flow sensor is used for measuring in real time spray value;
A keyboard is used to set the formulation rate input setting of spray medicine fabric width and unit area;
A LCD display is used for showing in real time the formulation rate and the actual instantaneous formulation rate of the unit area that speed, spray medicine fabric width, the user of dispenser facility set, and can display keyboard to the modification process of some parameter;
An electrical ball valve, the real-time ducted flow of adjusting dispenser;
A DC decompression mu balanced circuit, being used for vehicular power-bottle DC12v voltage transformation is DC5v voltage, uses for control circuit;
A DC boosting voltage stabilizer, being used for vehicular power-bottle DC12v voltage transformation is DC24v voltage, to power to electrical ball valve.
Described core processor is single chip computer AT 89C52.
Described DC decompression mu balanced circuit comprises a step-down chip, its first end is connected with the input end of power supply, second end is connected with diode D1, the 3rd end is connected with five terminal, the 4th end is connected with capacitor C 5 with the output terminal of power supply, between second end and the 4th end, be connected with inductance L 1, between first end and ground wire, be in series with capacitor C 4.
Its control method of a kind of vehicle mounted variable farm chemical applying machine control system specifically comprises a row step:
1) target that control system is set is that the speed of travel of no matter dispenser machine is constant or changes, and system makes actual formulation rate automatically and sets formulation rate and be consistent substantially;
The speed of travel is calculated the speed of travel and is measured with speed pickup output umber of pulse, and speed of travel v is:
In the formula: N is the pulse number that speed pickup revolves the output of turning around; R is road wheel radius of action (m); The pulse number that n receives for the per second single-chip microcomputer;
Actual formulation rate calculates actual formulation rate and exports pulse measurement with flow sensor, and actual formulation rate q is:
In the formula: d is the working width (m) of spray medicine; V is the dispenser machine speed of travel (m/s); W is for flowing through per 1 soup sensor output pulse number; The w pulse number that p.s., single-chip microcomputer received;
2) according to actual requirement, the interior ring that the dose control loop is set is 0.9 times and sets formulation rate that outer shroud is 1.1 times and sets formulation rate; If current actual formulation rate reduces formulation rate greater than the outer shroud value by the aperture that reduces electrical ball valve; If current actual formulation rate less than interior ring value, increases formulation rate by the aperture that increases electrical ball valve; If actual formulation rate in the centre of two rings, does not change the aperture of electrical ball valve;
3) power supply, keyboard, LCD demonstration and electrical ball valve driver module are set;
Described power module comprises DC decompression mu balanced circuit and DC boosting voltage stabilizer, and its power supply is the DC12v storage battery on the car;
Described Keysheet module is 4 * 4 keyboards, and its working method is the interrupt scanning mode;
Described electrical ball valve driver module comprises an analog-digital chip, a voltage follower circuit and an electrical ball valve; Its control method is to control electrical ball valve with digital voltage signal; Wherein the electrical ball valve supply voltage is DC24v, and control voltage is DC5v, and 0～90 ° of opening time is less than 8s.
Described control circuit supply voltage DC5v realizes by the DC decompression mu balanced circuit.
Described DC decompression mu balanced circuit acp chip is LM2576T-5.0.
Described electrical ball valve control method is to control electrical ball valve with digital voltage signal.The digital voltage signal of single-chip microcomputer output is become simulating signal through digital-to-analog conversion, receive the control signal end of electrical ball valve after by voltage follower electric current being amplified again; Control voltage by direct change electrical ball valve changes its aperture, and then changes spray value.
The present invention compared with prior art, this system has structure tube list, the operation tube just, the characteristics that cost is low, can change spray value automatically according to the dispenser machine speed of travel, realize that formulation rate is constant, and atomizing effect be good, production efficiency is high, reduce the residual of agricultural chemicals and, can satisfy the needs of agricultural production the pollution of environment.
Description of drawings
The structural drawing of Fig. 1 variable farm chemical applying machine control system of the present invention;
Fig. 2 variable farm chemical applying machine control system of the present invention block diagram;
The stagnant ring control principle figure of Fig. 3 variable farm chemical applying machine control system of the present invention;
Fig. 4 variable farm chemical applying machine control system of the present invention circuit diagram.
Embodiment
Below the specific embodiment that provides by the inventor further specify vehicle-mounted variable farm chemical applying machine control system of the present invention and control method thereof.
The vehicle-mounted variable farm chemical applying machine control system of embodiment 1 the present invention
1. Fig. 1 has provided the structural drawing of the vehicle-mounted variable farm chemical applying machine control system of the present invention, comprise that a core processor is single chip computer AT 89C52, be used to finish the driving of calculating, keyboard and the electrical ball valve of the speed of a motor vehicle and actual flow, the demonstration of LCD and the enforcement of control algolithm;
A speed pickup is used for measuring the speed of travel of dispenser facility;
A flow sensor is used for measuring in real time spray value;
One 4 * 4 keyboard is used to set the formulation rate that sprays medicine fabric width and unit area;
A LCD display is used for showing in real time the formulation rate and the actual instantaneous formulation rate of the unit area that speed, spray medicine fabric width, the user of dispenser facility set, and can display keyboard to the modification process of some parameter;
An electrical ball valve, as a topworks, the real-time ducted flow of adjusting dispenser.
2. controlling schemes design
According to system requirements, adopt the closed-loop control method that variable farm chemical applying machine is controlled.
1), the control system of Control System Design: as shown in Figure 2.
Shown in Figure 2, system's controlled target is that the speed of travel of no matter dispenser machine is constant or changes, and system makes actual formulation rate automatically and sets formulation rate and be consistent substantially.The unit of actual formulation rate and setting formulation rate is " l/hm
2", the unit of the spray value that flow sensor records is " l/min ", actual formulation rate need convert according to working width and facility speed and obtain.
2) control of stagnant ring control system is adopted to stagnate and is encircled the control method: as shown in Figure 3.
Shown in Figure 3, according to actual requirement, the interior ring that the dose control loop is set is 0.9 times and sets formulation rate that outer shroud is 1.1 times and sets formulation rate.If current actual formulation rate reduces formulation rate greater than the outer shroud value by the aperture that reduces electrical ball valve; If current actual formulation rate less than interior ring value, increases formulation rate by the aperture that increases electrical ball valve; If actual formulation rate in the centre of two rings, does not change the aperture of electrical ball valve.
2.1 control algolithm
1) speed of travel is calculated the speed of travel and is exported the umber of pulse metering with speed pickup.Speed of travel v is:
In the formula: N is the pulse number that speed pickup revolves the output of turning around; R is road wheel radius of action (m); The pulse number that n receives for the per second single-chip microcomputer.
2) actual formulation rate calculates actual formulation rate and exports pulse measurement with flow sensor.Actual formulation rate q is:
In the formula: d is the working width (m) of spray medicine; V is the dispenser machine speed of travel (m/s); W is for flowing through per 1 soup sensor output pulse number; The w pulse number that p.s., single-chip microcomputer received.
3 modular design
System comprises power supply, keyboard, LCD shows and electrical ball valve drives 4 main modular.
3.1 power module
Power supply is the DC12v storage battery on the car, and the control circuit supply voltage is DC5v, and the electrical ball valve supply voltage is DC24v, so DC decompression mu balanced circuit and voltage boosting and stabilizing circuit must be arranged.
As shown in Figure 4, designed a DC12v-DC5v decompression voltage regulator based on LM2576, this decompression voltage regulator actual measurement output voltage is 5.02v, and highly stable.The load of DC12v-DC24v voltage boosting dc circuit is an electrical ball valve, requires electric current 〉=4A, and voltage is stable.Select the Vehicular multifunctional inverter of Shenzhen Sai Ge incorporated company for use, this inverter can be realized the conversion of DC12v to DC14v, DC16v, DC18v, DC20v, DC22v, DC24v and DC26v, output current 4A-6A, and output voltage stabilization.
3.2 Keysheet module
What native system adopted is 4 * 4 matrix keyboards, and one has 16 keys, is respectively numerical key 0～9 and function key A～F.What the working method of Keysheet module adopted is the interrupt scanning mode.
This paper definition " A " key is " fabric width ".Revise key, this key is pressed, and can show asterisk on the fabric width of LCD is capable, at this moment just can use the new fabric width value of numerical key input of keyboard, and by " A " key, system just preserves this value and makes LCD turn back to normal display state again." B " key is that " setting flow " revises key, and alter mode is with " A " key.Other function keys are temporarily as keeping key.
3.3LCD display module
The character that LCD and single-chip microcomputer and system show has Chinese character, numeral and unit, and wherein Chinese character is 16 * 16 dot matrix, and numeral is 8 * 16 dot matrix, and is neat in order to show, 16 * 16 dot matrix words of oneself making that unit adopts.
3.4 electrical ball valve driver module
Control electrical ball valve with digital voltage signal, through receiving the control signal end of electrical ball valve after the digital-to-analog conversion, the control voltage by direct change electrical ball valve changes its aperture, and then changes spray value with the digital voltage signal of single-chip microcomputer output.The digital voltage signal of this scheme single-chip microcomputer output can reach 0.02v through 8 figure place moulds conversion back precision, with simple voltage follower of operational amplifier design, its load capacity is brought up in the claimed range of system.
That the digital to analog converter of system of the present invention is selected for use is MAX517, and that operational amplifier is selected for use is LM324.
The aperture of electrical ball valve (DC1-5v) is controlled by " control signal voltage ": when voltage≤1v, the aperture of valve is 0; Aperture is 100% when voltage 〉=5v; Aperture and voltage are close to linear between between the two the time.
4 test findings and analysis thereof
4.1 software emulation
The present invention has built this system in proteus software, and it has been carried out emulation.Emulation replaces speed pickup and flow sensor respectively with two pulse producers, measures the electrical ball valve output end voltage to observe its output result with voltage table.Simulation result shows: hardware circuit design is reasonable, and the software program operation is correct, and system accuracy is higher.
4.2 test and result thereof
For the feasibility of verification system design,, built side circuit, and mechanically tested in the vehicular dispenser according to the circuit theory diagrams of design.
(1) the liquid pump carry potential overflow valve that uses of constant speed transformation advance copy system, when pressure reached 4MPa, surplus valve was opened automatically, can make pump after pressure control between 2～4MPa.The test of constant speed transformation is under different unit speeds (maintenance speed is constant during same velocity test), tests the variation of actual formulation rate under different stabilized walking speed conditions.Test findings is as shown in table 1.
(2) acceleration test dispenser machine is in actual job, and facility speed can not remain unchanged, and the speed of velocity variations generally has certain influence to actual formulation rate.This paper is by coding, the acceleration of given facility, make speed between 2km/h～5km/h with the circulating increase of specific acceleration with reduce, to test the influence that actual formulation rate is subjected to acceleration.Test findings is as shown in table 1.
(3) field test has been done bulk testing in order to verify actual effect in the field of long 111m, fabric width 6m, and the average speed of travel of facility is 3.5km/h, the setting formulation rate is 1500l/hm
2In the whole medication application process, the atomizing effect of shower nozzle is fine, and the result is as shown in table 1.
Table 1 test findings
Annotate: " stagnating outer T.T. of ring " is actual formulation rate 1.1 times greater than the setting formulation rate, or less than 0.9 times T.T. setting formulation rate; " average error " is the error between actual dispenser total amount and the setting formulation rate.
4.3 test result analysis
From test findings as can be seen:
1) different stabilized walking speed are little to dispenser quality (actual formulation rate and homogeneity) influence, and this is because liquid pump has surplus valve, liquid pump in long time service in the cause of oil pressure relief 4MPa.
2) acceleration is less than 0.4m/s
2The time, actual formulation rate and the error of setting between the formulation rate can not surpass 8%, and during the tractor farm work, acceleration is relatively poor relatively, more helps improving the dispenser quality.
3) actual field test results makes us more satisfied.Just bigger in two ends, field facility velocity variations, cause error relatively large; The centre position facility velocity variations in field is little, and actual formulation rate is followed the setting formulation rate substantially.
5 conclusions
This paper is based on the designed vehicle mounted variable farm chemical applying machine control system of AT89C52, and the user not only can set the formulation rate of spray medicine fabric width and unit area easily according to actual conditions, can also the Real Time Observation running situation to control.This system can change its spray value according to the variation of the dispenser machine speed of travel, and then actual formulation rate is remained unchanged substantially.The agricultural chemicals utilization factor can not only be improved, the residual of agricultural chemicals can also be reduced and the pollution of environment.
Emulation and actual tests result show: this system design is reasonable, and is easy to use, and homework precision is higher, and atomizing effect is good, can satisfy the needs of agricultural production.
Claims (8)
1. vehicle mounted variable farm chemical applying machine control system comprises:
A core processor is used to finish the driving of calculating, keyboard and the electrical ball valve of the speed of a motor vehicle and actual flow, the demonstration of LCD and the enforcement of control algolithm;
A speed pickup is used for measuring the speed of travel of dispenser facility;
A flow sensor is used for measuring in real time spray value;
A keyboard is used to set the formulation rate input setting of spray medicine fabric width and unit area;
A LCD display is used for showing in real time the formulation rate and the actual instantaneous formulation rate of the unit area that speed, spray medicine fabric width, the user of dispenser facility set, and can display keyboard to the modification process of some parameter;
An electrical ball valve, the real-time ducted flow of adjusting dispenser;
A DC decompression mu balanced circuit, being used for vehicular power-bottle DC12v voltage transformation is DC5v voltage, uses for control circuit;
A DC boosting voltage stabilizer, being used for vehicular power-bottle DC12v voltage transformation is DC24v voltage, to power to electrical ball valve.
2. vehicle mounted variable farm chemical applying machine control system according to claim 1 is characterized in that, described core processor is single chip computer AT 89C52.
3. vehicle mounted variable farm chemical applying machine control system according to claim 1, it is characterized in that, described DC decompression mu balanced circuit comprises a step-down chip, its first end is connected with the input end of power supply, second end is connected with diode (D1), and the 3rd end is connected with five terminal, and the 4th end is connected with electric capacity (C5) with the output terminal of power supply, between second end and the 4th end, be connected with inductance (L1), between first end and ground wire, be in series with electric capacity (C4).
4. the control method of a vehicle mounted variable farm chemical applying machine control system is characterized in that carrying out according to the following steps:
1) target that control system is set is that the speed of travel of no matter dispenser machine is constant or changes, and system makes actual formulation rate automatically and sets formulation rate and be consistent substantially;
The speed of travel is calculated: the speed of travel is measured with speed pickup output umber of pulse, and speed of travel v is:
In the formula: N is the pulse number that speed pickup revolves the output of turning around; R is road wheel radius of action m; The pulse number that n receives for the per second single-chip microcomputer;
Actual formulation rate calculates: actual formulation rate is exported pulse measurement with flow sensor, and actual formulation rate q is:
In the formula: d is the working width (m) of spray medicine; V is the dispenser machine speed of travel (m/s); W is for flowing through per 1 soup sensor output pulse number; The w pulse number that p.s., single-chip microcomputer received;
2) according to actual requirement, the interior ring that the dose control loop is set is 0.9 times and sets formulation rate that outer shroud is 1.1 times and sets formulation rate; If current actual formulation rate reduces formulation rate greater than the outer shroud value by the aperture that reduces electrical ball valve; If current actual formulation rate less than interior ring value, increases formulation rate by the aperture that increases electrical ball valve; If actual formulation rate in the centre of two rings, does not change the aperture of electrical ball valve;
3) power supply, keyboard, LCD demonstration and electrical ball valve driver module are set;
Described power module comprises DC decompression mu balanced circuit and DC boosting voltage stabilizer, and its power supply is the DC12v storage battery on the car;
Described Keysheet module is 4 * 4 keyboards, and its working method is the interrupt scanning mode;
Described electrical ball valve driver module comprises an analog-digital chip, a voltage follower circuit and an electrical ball valve; Its control method is to control electrical ball valve with digital voltage signal; Wherein the electrical ball valve supply voltage is DC24v, and control voltage is DC5v, and 0～90 ° of opening time was less than 8 seconds.
5. control method according to claim 4 is characterized in that, described control circuit supply voltage DC5v realizes by the DC decompression mu balanced circuit.
6. control method according to claim 5 is characterized in that, described DC decompression mu balanced circuit acp chip is LM2576T-5.0.
7. control method according to claim 4 is characterized in that, described electrical ball valve control method is to control electrical ball valve with digital voltage signal.
8. control method according to claim 7 is characterized in that, the digital voltage signal that single-chip microcomputer is exported becomes simulating signal through digital-to-analog conversion, receives the control signal end of electrical ball valve after by voltage follower electric current being amplified again; Control voltage by direct change electrical ball valve changes its aperture, and then changes spray value.
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| CN102865892A (en) * | 2012-10-11 | 2013-01-09 | 深圳市隆瑞科技有限公司 | System and method for recording and monitoring drug delivery of sprayer |
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| CN116034968A (en) * | 2022-12-09 | 2023-05-02 | 南京农业大学 | PLC-based garlic field precise pesticide applying machine and pesticide applying method |
| CN116034968B (en) * | 2022-12-09 | 2023-09-15 | 南京农业大学 | PLC-based garlic field precise pesticide applying machine and pesticide applying method |
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