CN101968649B - Network type control system for live pig culturing environment and intelligent environment factor control method - Google Patents
Network type control system for live pig culturing environment and intelligent environment factor control method Download PDFInfo
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Abstract
The invention relates to a control system device based on interconnection of various networks for a large-scale live pig culturing environment and an environment factor parameter control method. The device of the invention comprises a data acquisition and transmission layer, a data analysis and storage layer and a data use and sharing layer which communicate with each other by a wired or wireless mode to realize data acquisition, analysis and remote control. On the monitoring field, the system adopts a self-organizing intelligent control network formed based on wireless sensor network interface nodes, or adopts a collection and control system of field unit environment factor parameters formed based on field bus interface nodes and a field monitoring terminal; information interaction between the control field and a remote center monitoring terminal is realized by the wired or wireless mode through multiple interface gateways; and the networks of the overall system have various information interactive modes, thereby improving the flexibility, reliability and economy of structural design of the control system.
Description
Technical field
The invention belongs to information management, Control Network and the field of intelligent control of livestock and poultry house envirment factor parameter, be specifically related to a kind of based on multiple network interconnected scale pig-breeding environmental control system device and envirment factor parameter control method.
Background technology
In animal husbandry was produced, closed livestock and poultry house had been widely used in the industrial aquaculture of livestock and poultry, and closed livestock and poultry house can be created a kind of growth and development environment and the needs that satisfy the industrial aquaculture economic benefit that is suitable for the animal biology characteristic.Wherein, the monitoring to humiture in giving up is the main aspect of carrying out the control of livestock and poultry house environment.In feeding process, need often to detect and control the humiture in the house, keep the livestock and poultry house that a suitable humiture situation is arranged.Therefore, pig house environment humiture situation is monitored in real time,, shortened growth cycle, realize energy-efficient batch production production, have higher utility and application prospect for the market pig production run provides suitable growing environment.Two during the last ten years, through storming strongholds in defiance of difficulties of vast herding engineering science and technology worker, researched and developed a series of facilities and equipment, lays a good foundation for further improving livestock and poultry house microclimate environment.China Agricultural University's report is a core with 8098 single-chip microcomputers, and the age in days of having developed with livestock and poultry is the hardware and the software engineering of the multiple-factor environmental control systems such as temperature, humidity and illuminance of benchmark, has tentatively realized the intellectuality control of livestock and poultry house environment.The principle of the automatic thermostat of exploitations such as Ou Ming is to respond to the interior temperature of house automatically by the temperature probe of temperature measurer to pass to temperature measurer to data, and temperature measurer after receiving simulating signal is made comparisons this signal and preset value.The Ruo Shenei temperature is higher than predetermined value, will drive contactor, drives blower fan and pump working, thereby regulates the pig house interior environment temperature.Swinery is complementary to the desired temperature of environment in the working temperature that in actual application, will guarantee to set and the actual growth, and this rule of thumb is provided with different working temperatures according to different swinerys to the demands of different of temperature with regard to needing the keeper.Wear 3 kinds of cooling methods such as glad equal utilization mechanical ventilation, house external spraying and house internal spraying; And adopt the PLC control technology to be implemented in and carry out branch temperature section unlatching relevant device summer; Keep suitable humiture in the pig house, this method adopts and manually is provided with and based on the control method of experience.Tian Yun etc. have developed a kind of suckling pig house temperature, humidity automatic control system based on single chip computer AT 89C52 and DS18B20 digital temperature sensor, and this system can satisfy the requirement of turning down the temperature of controlling with piglet birth fate increase automatically.These do not realize that scale pig-breeding environmental control system requires and the information transmission mode of supervisory system is not considered the not actual state of the Detection & Controling condition of equal breeding environment of region, pig farm; The control method of breeding environment is also fairly simple, does not consider the accuracy requirement of controlled variable and the factor of economic benefit.The general trend of live pig large-scale cultivation environment control is comprehensive integrations such as integrated use intelligent control technology, sensor technology, network technology, field bus technique and wireless communication technology; The digitized record and the computer intelligence optimum decision of the automatic control of realization scale pig-breeding environment, supervision, overall process; Realization is to the intelligent management and the control of pig house environment factor parameter; Promoted the development that live pig high-quality, batch production efficient, low consumption are produced, these meta-synthetic engineerings are gone back blank out both at home and abroad being applied in of batch production pig house breeding environment control.
Summary of the invention
The present invention is on the basis of correlative study at present; Actual conditions such as restriction to the communication condition of characteristics such as coupling between pig-breeding environmental information diversity, the envirment factor and region dispersiveness and breeding environment; Designed and Implemented a kind ofly, formed the information transmission and the intelligent monitor system of multiple structure based on wireless senser or fieldbus networks combine with GPRS network or Ethernet final and internet UNICOM.This system is used by data acquisition and transport layer, data parsing and accumulation layer and data and inclusion layer 3 parts are formed, and they are through wired or wireless mode communication:
Data acquisition and transport layer: comprise detection node in the monitoring scene, Control Node, via node, multi-interface gateway, on-site supervision end and GPS and GPRS module and GPRS network and Ethernet; Adopt a large amount of miniature wireless sensor networks or fieldbus networks node as breeding environment information acquisition and control terminal, realize Distributed Multi collection and Based Intelligent Control the pig-breeding environmental information; Then; Through via node accomplish the transmission of pig-breeding environmental information and the most at last convergence to system's multi-interface gateway; Be connected with mobile GPRS network through the GPRS module or Ethernet interface and Ethernet send to the center monitoring end of data parsing and accumulation layer with the data in real time ground of gathering at multi-interface gateway, deposit valid data in database after passing through the data acquisition module parsing on the center monitoring end.
Data parsing and accumulation layer: comprise center monitoring end, database server, be used to receive the data that come from data acquisition and transport layer, deposit valid data in database server after resolving through the data acquisition module on the center monitoring end; Realize storage and parsing and the inquiry and the supervision of total system information.Consider in the system that at the center monitoring end of System Control Center great deal of information collection and Control Node are distributed in the plant of different region, for the ease of the management to node, GIS is applied in the native system with GIS-Geographic Information System.This system is according to the residing longitude and latitude in pig farm, and node combines and draws the map of pig house environment parameter distribution situation on realization desktop end and the network.
Data are used and inclusion layer: comprise Web Application Server, user browser; Be used to realize that the user uses and shared data; In order to let the user use better and shared data; In data use and inclusion layer, adopted the B/S pattern, client needs only the data that get final product real time access, browse and download required monitoring collection in worksite point through the browser access Web server in the B/S pattern, and the data acquisition module is carried out remote access; Utilize Web Services technology that data issuing is encapsulated as service; This service is via after the Web publishing, and other application (system) just can be through to it call and obtain pig farm monitoring field data easily, thereby realizes field data effectively shared between different application.
Following characteristics are arranged in three-decker of the present invention:
In data acquisition and transport layer according to region, pig-breeding field disperse, communication condition has nothing in common with each other and Effect of Environmental such as weather, in the pig house environment of monitoring, can select fieldbus networks or wireless sensor network to realize collection and control to environmental parameter information; To realize between monitoring unit and the remote control center at the scene to effective solution of different regions pig house environment factor monitoring be that the configuration volume is little, power consumption and cost is lower and the gateway that can dispose flexibly; The information of being obtained by gateway processes is also carried out forwarding work; Ethernet communication is reliable and stable; But need possess corresponding access conditions, this is difficult to realize under many applicable cases; The radio communication travelling performance is good, but the network coverage face of being vulnerable to and the puzzlement of rate problem.In order to address the above problem, can on gateway, realize comprising wired and wireless multiple communication mode, when practical application,, perhaps under the situation of conditions permit, use simultaneously according to the needed communication mode of the autonomous selection of the circumstances of pig house deployment region of living in.The information interaction mode of Detection & Controling node and control center can realize in the following manner like this: wireless+wired, wireless+wireless, wired+wired, wired+wireless mode is realized.Gateway with multiple communication mode not only can be realized the forwarding of the flexible access completion node data of external network can also adapting to the dirigibility of Detection & Controling node deployment simultaneously.The present invention is on the basis of above-mentioned thinking; A kind of gateway with aggregation node function is accomplished in design; And, erect the bridge that wireless sensor network or fieldbus networks and external network carry out data communication through integrated Ethernet, serial port and many kinds of communication modes of GPRS.Each communication software executed in parallel of multi-thread mechanism control of utilization embedded OS has improved running efficiency of system.The gateway designs flexibility and reliability also has extensibility, for realizing that more multipath network insertion scheme provides the valuable method reference.Gateway mainly is made up of GPS module, microprocessor, NRF2401 module, Ethernet interface, GPRS communication module and serial port; When native system is used for on-site supervision detection node, Control Node are placed in the guarded region; This node can independently form wireless monitor network or fieldbus networks; Each node is gathered the information such as temperature, humidity, illuminance and harmful gas of surrounding environment; Through radio sensing network or fieldbus networks information is reached multi-interface gateway; By gateway the geography information of data message and gateway is sent to remote monitoring center, gateway and on-site supervision end interactive information and instruction, on-site supervision personnel monitoring client at the scene in time monitor processing to the pig house environment situation according to detection information.
Monitoring client is set the artificial characteristics that adopt according to the pig house environment controlled variable at the scene; Designed the expert system that the pig house environment factor parameter is provided with; This expert system is mainly set the desirable controlling value of temperature, humidity of field terminal unit according to the optimum principle of financial cost; Main basis: cost model, live pig growth model, the market price of live pig, the market price of feed and the parameters such as growth phase of live pig of the control of envirment factor parameter; Obtain the economic optimum envirment factor parameter of current period live pig growth through expert reasoning, this parameter is delivered in the related memory cell of Control Node through serial port, multi-interface gateway by the on-site supervision end.
In Control Node (for the convenience on designing; Native system is in the same place detection node and Control Node design; System selects for use wherein as required, and the detection node function still is the Control Node function) design PID neural network decoupling system; System is multivariate, strong coupling, big inertia controlling object according to environmental parameters such as the temperature in the live pig growth course, humidity; In this system,, set up the neural network model of live pig growing environment factor parameter and utilized the PID neural network to constitute Decoupling Control System in order to improve the requirement of control accuracy and response speed.PID neural network decoupling system is formed by a plurality of PID neuron subnet alter-parallels, and the input layer of each subnet has 2 neurons, accepts 1 respectively and is transferred detection actual amount y and 1 specified rate r; Hidden layer has 3 neurons, and its input-output function is respectively ratio (P), integration (I), differential (D) function; Output layer has the required controlled quentity controlled variable of the corresponding topworks of 1 or 2 neuron.System's controlling object is a temperature and humidity, therefore needs 2 PID nerve network controllers, because there are 3 topworkies in system, so the temperature controller and the public PID nerve network controller of blower fan of control temperature, then output layer has 2 neurons; Humidity then needs 1 PID nerve network controller, and output layer has 1 neuron, through these 2 controller subnet alter-parallels, can constitute the network of 2 * 6 * 3 structures.The input layer of network to hidden layer is by the subnet separate connection; The connection that then crosses one another of its hidden layer to output layer; Whole network is fused, realize the decoupling zero control of pig house environment factor temperature and humidity, through GPFN1 learning algorithm self-adaptation adjustment neural network parameter; Realize intelligentized PID learning controller, to adapt to the control of complication system.The envirment factor parameter neural network model of setting up has very strong approximation capability; And the weights adjustment is simple; It is very fast and stable to adopt GPFN2 to learn algorithm convergence, and the actual detected amount of its controlled quentity controlled variable that is input as current time K and preceding K-1 several times, K-2 and K-3 moment correspondence is as the input of neural network, and output quantity is the premeasuring of the temperature and humidity of current time; The hidden layer of neural network adopts Gaussian function, and its structure is 9-14-2.System's control method that utilization is carried can realize the identification and the control of nonlinear multivariable systems, and all has stronger robustness for the variation of object structure and parameter.Because the envirment factor parameter model of setting up is participated in the control of PID nerve network controller, improved the response speed and the precision of system's control.
Because pig house environment factor parameter height discreteness; It is different with the actual parameter that different position transducers detects that detection node is installed in different height; In order to obtain the feedback actual value as controller, native system is installed in half height of pig to sensor and gets average to the output parameter of a plurality of detection node and come participation system envirment factor parameter control as the feedback actual value of Control Node controller.
In data parsing and accumulation layer; Consider in the system that at the center monitoring end of System Control Center great deal of information detection node and Control Node are distributed in the plant of different region; Management for the ease of to node is applied to GIS-Geographic Information System in the native system.According to the residing longitude and latitude in pig farm, node combines and keeps watch on the map of pig house environment parameter distribution situation on realization desktop end and the network.
In data use and inclusion layer,, database server, center monitoring end, Web Application Server are separately designed in order to ensure the safety of data, the efficient of system's operation and the upgrading and the maintenance of system.Both keep the independence on the function between each server, carried out mutual in data and the control again.Utilize ADO.NET can the fulfillment database server and other servers between the high efficiency interactive of data.System adopts VC.NET, C# and ASP.NET exploitation to constitute scale long-range pig-breeding environmental information collection and control system with hardware components.
This system has adopted wireless sensor network technology, field bus technique, GPRS technology, GPS is technological, GIS is technological, intelligent control technology and Web technology can realize scale pig-breeding environment is efficiently monitored and the sharing of information effectively.System construction drawing is seen Fig. 1.
1., designed based on the wireless and Detection & Controling node (function that comprises detection node and Control Node field-bus interface; Select partial function during use as required for use); Detect the parameter such as temperature, humidity, illuminance and harmful gas concentration of pig house environment and the duty through the control external unit realizes the efficient control to the envirment factor parameter; This category node contains wireless and field-bus interface can be realized carrying out information interaction with gateway node through via node, through the information interaction of gateway realization with on-site supervision end and remote center's monitoring client.The hardware and software structure is seen Fig. 2 and Fig. 3.Realize high precision decoupling zero control in Control Node through the neuronic decoupling zero of PID and the parameter model of the utilization neural network identification pig house environment factor to pig house environment factor parameter temperature and humidity.The latter half that decoupling zero control structure figure sees Fig. 4.
2., designed multi-interface gateway: this gateway is realized information interaction, detection and Control Node and the information interaction of remote center's monitoring client and the information interaction of passing through GPS module and telstar of on-site supervision end and detection and Control Node; In order to realize above function; This gateway contains four serial ports to be realized: 1 serial ports meets RS232 to be changeed the CAN bus module and realizes gateway and information interaction based on the on-the-spot Detection & Controling node of CAN fieldbus; 1 serial ports connects the GPRS module interface is realized on-the-spot Detection & Controling node and control center's monitoring client through wireless mode information interaction; 1 serial ports connects the longitude and latitude that the GPS module interface realizes confirming with the information interaction of telstar this pig-breeding environment place, and the RS232 interface that 1 serial ports connects the on-site supervision end is realized the monitoring of the information interaction realization of on-site supervision end and Detection & Controling node to the pig-breeding unit; Realize wired mode information interaction of Detection & Controling node and center monitoring end through the design Ethernet interface; Realize that through the design wireless transmission method gateway and scene are detected and the information interaction of Control Node.In gateway, unit many detection node of pig house parameter is carried out the precision that data fusion improves Detection & Controling.The hardware and software structural drawing is seen Fig. 5 and Fig. 6.
3., designed on-site supervision end software (the on-site supervision end adopts industrial control computer): realized monitoring, inquiry, storage and realized setting the envirment factor parameter objectives value of Control Node, has combined the Based Intelligent Control of realization with PID neuron decoupling zero control algolithm in the Control Node to pig house unit environments factor parameter based on the expert system of economic optimum reasoning to the breeding environment on-site parameters.Software block diagram sees that Fig. 7 and expert reasoning see the first half of Fig. 4.
4., designed center monitoring end software (the center monitoring end adopts industrial control computer): combine the technological realization of GIS and GPS that the parameter distribution figure that desktop end combines with monitor node is resolved, shows, inquires about and managed and draw to variant place on-the-spot pig house monitoring unit envirment factor parameter.The software flow structure is seen Fig. 8.
5., designed Web server end software and realized and remote port user's information interaction that response user's request service realizes that the long-distance user inquires about the pig house environment factor and historical trend and the on-the-spot envirment factor parameter of real-time release monitoring.The software flow structure is seen Fig. 9.
Advantage of the present invention:
1., according to the pig farm Regional Distribution extensively, characteristics such as weather conditions, environmental baseline, reliability requirement and economic condition, native system can be formed the collection and the control system of field unit envirment factor parameter by forms self-organization intelligent control network or employing based on the wireless sensor network interface node in the monitoring field by using based on field-bus interface node and on-site supervision end; Control on-the-spot with remote center's monitoring client between adopt the wired or wireless mode realization information interaction between them through multi-interface gateway, the network of total system has multiple information interaction mode.The occasion that these can adapt to different subjective and objective conditional requests has improved dirigibility, reliability and the economy of control system structural design.
2., designed the gateway of multi-functional, the many information interactions mode that has CAN EBI, wireless sensor network interface, Ethernet interface and serial communication interface; Detection & Controling node and on-the-spot variation of supervising the information interaction mode of end have been realized; The variation of information interaction mode between Detection & Controling node and the control center, that is: wired+wired, wired+wireless, wireless+wired, wireless+mode such as wireless.This gateway has improved dirigibility, the redundancy of control system.
3., adopt the GIS technology and the centralization and decentralization formula of GPS technology application in conjunction live pig growing environment parameter to monitor in many regions; System realizes the fixed-point data that the Detection & Controling node is gathered is carried out space-time analysis, makes that the whole monitoring system function is reliable more, imagery.
4., the multi-sensor data based on a plurality of check points merges the precision that improves envirment factor parameter detecting and control; Set up the neural network model of live pig growing environment factor parameter and the high precision decoupling zero control that combines to realize temperature and humidity of PID neural network, improved the control accuracy and the response speed of control system envirment factor; System adopts the value of coming the set environment factor parameter based on the expert system of economic optimum reasoning, has improved the economic benefit of system and the science of envirment factor parameter setting.
5., Terminal Server Client is through interactive information between the Web server of browser realization and Surveillance center; Between center monitoring end, Web server and database, realize information sharing; Realize the information interaction between them through gateway interface between center monitoring end and the on-site supervision end; The information interaction between the realization of employing B/S+C/S structure long-distance user, monitoring scene and the control center is perhaps passed through the unification of monitoring mobile phone end realization system information various interaction modes property and dirigibility with shared between user, scene and the Surveillance center like this.
Description of drawings
Fig. 1 scale pig-breeding environment network control system structural drawing
The detection node of 1-wave point, 2-via node, the Control Node of 3-wave point, 4-GPS module, 5-multi-interface gateway; The 6-GPRS module, 7-monitoring mobile phone end, 8-on-site supervision end, 9-Ethernet interface RJ45; The 10-GPRS network base station, 11-GPS telstar, 12-GSM/GPRS/Internet net, the detection node of 13-CAN field-bus interface; The Control Node of 14-CAN field-bus interface, 15-CAN-BUS fieldbus, 16-Intranet, 17-Web application server; The 18-database server, 19-center monitoring end, 20-user, 21-Internet.
The structural drawing of Fig. 2 Detection & Controling node (function that comprises detection node and Control Node is selected partial function during application).
Fig. 3 Detection & Controling node software process flow diagram.
The decoupling zero control algolithm process flow diagram of Fig. 4 Control Node.
Fig. 5 multi-interface gateway structural drawing.
Fig. 6 multi-interface gateway software flow pattern.
Fig. 7 on-site supervision end software flow pattern.
Fig. 8 center monitoring end software flow pattern.
Fig. 9 Web Application Server software architecture diagram.
Figure 10 total system floor plan.
Embodiment
1., the design of overall system function
The characteristics that differ greatly to the dispersion of region, pig farm, environment and external condition; Native system has at first made up the platform of the collection information acquisition that combines based on multiple network and the control of envirment factor parameter; Proposed a kind of parameter acquisition and control system based on WSN technology or field bus technique at the on-the-spot pig house end of control, they adopt NRF2401 module or CAN field bus protocol chip SJA1000 to combine the MSP430 series microprocessor to realize the collection and the control of different node parameters respectively; In order to realize information interaction on-the-spot and control center; Designed and had multi-interface gateway 5; This gateway is realized the information interaction of information interaction (through the RS232 interface of gateway and the RS232 interface of on-site supervision end), GPS module 4 and the GPS telstar 11 of the information interaction (through GPRS module 6 or Ethernet interface RJ45-9) of on-the-spot and control center, on-the-spot Detection & Controling nodal information and on-site supervision end 8, is delivered to the longitude and latitude at monitoring scene through gateway the generalized information system of center monitoring end 19.Design the center in control center and supervised end 19, Web Application Server 17 and database server 18 etc.; Realize the information monitoring and the information sharing of total system; Embed the GIS technology at center monitoring end 19 and realize technological combining with on-the-spot GPS; Web Application Server 17 response long-distance users 20 are through the visit or the request of browser; The information parameter of collection in worksite is realized information sharing in the database server 18 storage total system monitor procedures between control center, user 20 and on-site supervision end 8.
In wireless sensor network; The detection node 1 that has wave point is installed in the pig house zone, monitored unit with Control Node 3; Form with self-organization constitutes network; And adopt the multi-hop relay modes that Monitoring Data is uploaded to multi-interface gateway 5 with wireless mode through via node 2, finally the data in the whole zone are sent to remote center's monitoring client 19 and focus on through multi-interface gateway 5.Because the transmission of Detection & Controling node distance receives the restriction of this node power, therefore, it can seek via node 2 as transmission trunking, through the help that closes on via node 2 data is sent to multi-interface gateway 5.Multi-interface gateway 5 is comparatively special nodes; It has stronger relatively processor and bigger storage space; Its function is that the sensing data that at first node in the network is transmitted carries out rough handling; Link to each other with external network then, the data that detect are sent to remote center's monitoring client 19; The opposite detection node 1 and Control Node 3 of passing through it and also arriving the information transmission of on-site supervision end 8 and remote center's monitoring client 19 wave point.In field terminal unit based on CAN-BUS fieldbus 15; The detection node 13 and the Control Node 14 that have the CAN field-bus interface are changeed the interface realization of CAN bus and the information interaction of gateway through the RS232 with gateway, at last through the information interaction of multi-interface gateway 5 realizations with center monitoring end 19, field control end 8.
For the control accuracy that improves the breeding environment factor parameter and the economic benefit of pig-breeding process; System adopts the PID neural network that the parameter of the breeding environment factor is carried out decoupling zero control, and the monitoring client expert system for design is provided with envirment factor parameter set-point at the scene.For reliability and the visuality that improves monitoring, system adopts GIS and GPS technology to draw the distribution plan of cultivation site envirment factor parameter situation.In order to improve the dirigibility of monitoring, at cultivation site preparation monitoring mobile phone end 7.The total system structure is seen shown in Figure 1.
2., the design of Detection & Controling node (function that comprises 1,3,13,14 nodes)
For the convenience on designing, native system is in the same place detection node and Control Node design, when using, accepts or rejects according to the needs of system.In monitor network based on WSN; Adopt a large amount of miniature wireless sensor network nodes as perception of pig house environment factor parameter and control terminal; Node is accomplished the collection and the control of the parameter of pig house environment information through co-operating mode, realize the mutual each other of information through via node 2 between radio detection node 1 and Control Node 3 and the multi-interface gateway 5; The detection node 13 of band field-bus interface realizes information interaction with Control Node 14 through CAN-BUS network 15 and multi-interface gateway 5.The information parameter of detection node input channel collection mainly comprises: sensors and corresponding modulate circuit and A/D change-over circuit such as temperature, humidity, illuminance, NH3, CO2, H2S; Design 3 road D/A change-over circuits, 8 tunnel at output channel and had the relay switch control loop that photoelectricity is isolated; Realize the control of corresponding external unit; Control gear is main: wet curtain, blower fan, temperature controller and harmful gas purifier etc., and wet curtain is arranged in the both sides, north and south of pig house, and blower fan is arranged in the thing both sides of pig house; The heating radiator of temperature controller is arranged in about 1 meter high height around 1 week along the pig house surroundings wall, and the high pressure of harmful gas purifier purifies 2 meters high positions that lead is installed in pig house; According to the needs Detection & Controling design of node of communication two communication interfaces, be respectively to adopt the wireless communication interface of NRF2401 module and based on the CAN EBI of SJA1000, photoelectric isolating circuit and 82C250CAN transceiver.Their software flow is mainly realized: the collection of radio communication or CAN bus communication and parameter information and the control of external unit.Microprocessor adopts the MSP430 series monolithic; Processor MSP430 series monolithic is supported the C programmer design; Be applicable to the C language and the standard C language of MSP430 series; Degree of compatibility is high, has improved the work efficiency of software design exploitation greatly, has strengthened reliability, the readability and portable of program code.Detection node is according to the needs of accuracy of detection, is evenly arranged in the pig house according to the height of live pig, and Control Node is arranged in the switch board.The shared circuit of Detection & Controling node is accepted or rejected interlock circuit according to the function of Detection & Controling node and the needs of communication mode when mounted.The structure of hardware and software is seen Fig. 2 and 3.
The decoupling control method of Control Node envirment factor parameter:The breed cell temperature of pig house, humidity environment factor parameter are one type of multivariate, strong coupling, big inertia controlling object; System utilizes the PID neural network to constitute Decoupling Control System according to the requirement of live pig growth course envirment factor temperature, humidity control.The PID neural network is a kind of multilayer neural network of being made up of ratio (P), integration (I), differential (D) neuron, has the advantage of PID control and neural network.For multivariate strong coupling time-varying system; The PID neural network can be through on-line study; When changing the connection weights are adjusted in the influence of system's output performance according to image parameter; Change the power of ratio, integration and the differential action in the network, make system possess better dynamic and nature static, reach the purpose of system decoupling control.The PID neural network is a kind of multilayer forward direction neuroid that includes dynamic and static characteristic, and the speed of convergence of network is very fast and guaranteed the stability of control system.Ratio unit in the PID neural network, the existence that integration is first and differential is first make the response of PID NEURAL NETWORK CONTROL SYSTEMS fast, little, the floating of overshoot.PID neuroid multivariable controller can be realized effective decoupling zero control to the non-linear multivariate object of this type strong coupling; The dynamic property of system is fine, and the adjusting time is short, and the speed of convergence of e-learning is very fast; Error monotone decreasing in the learning process is not absorbed in local minimum point.The temperature of pig-breeding environment, humidity are generally through regulating each control structure respectively by two single loop PID controllers; Their control accuracy can't ensure that many owing to the live pig kind, different at the envirment factor parameter request of each growth phase, the temperature and humidity of live pig growing environment is a kind of strong coupling relation; Perturbation action is strong; Time constant and time lag are bigger, are typical multivariate, strong coupling, big inertia controlling object, therefore; Adopt single-loop regulator to be difficult to the regulating effect that reaches desirable, parameter tuning is difficulty relatively.The present invention is based on the temperature and humidity control system structural drawing 4 of PID ANN Control; Native system PID neural network decoupling system is formed by a plurality of PID neuron subnet alter-parallels; The input layer of each subnet has 2 neurons, accepts 1 respectively and is transferred detection actual amount y and 1 specified rate r; Hidden layer has 3 neurons, and its input-output function is respectively ratio (P), integration (I), differential (D) function; Output layer has the required controlled quentity controlled variable of the corresponding topworks of 1 or 2 neuron.System's controlling object is a temperature and humidity, therefore needs 2 PID nerve network controllers, because there are 3 topworkies in system, so the temperature controller and the public PID nerve network controller of blower fan of control temperature, then output layer has 2 neurons; Humidity then needs 1 PID nerve network controller, and output layer has 1 neuron, through these 2 controller subnet alter-parallels, can constitute the network of 2 * 6 * 3 structures.The input layer of network to hidden layer is by the subnet separate connection; The connection that then crosses one another of its hidden layer to output layer; Whole network is fused, realize the decoupling zero control of pig house environment factor temperature and humidity, self-adaptation adjustment neural network parameter; Realize intelligentized PID learning controller, to adapt to the control of complication system.The automatic learning control system that adopts the GPFN1 network to constitute is as shown in Figure 4.Network G PFN2 accomplishes the System Discrimination of controlled device among the figure.Network G PFN1 accomplishes PID self study decoupling zero control; The hidden layer of RBF neural network adopts Gaussian function;
is the center vector of network hidden node basis function;
is the form parameter of basis function,
be the network weight that hidden layer arrives output layer.For on-line study adjustment network parameter {
;
;
}; The target of PID neural network learning is to make system's output error mean value of square be minimum
, and it is following to obtain the learning algorithm of corresponding parameter according to it:
In the formula;
is learning rate, and
is factor of momentum.The learning algorithm of GPFN2 is identical with the learning algorithm of GPFN1; The GPFN2 network has very strong approximation capability; And weights adjustment is simple, and the learning algorithm converges faster is with stable, and the corresponding constantly actual detected amount of its controlled quentity controlled variable that is input as current time K and preceding K-1 several times, K-2 and K-3 is as the input of neural network; Output quantity is the premeasuring of the temperature and humidity of current time; The hidden layer of neural network adopts Gaussian function, and their learning algorithm is referring to GPFN1, and its structure is 9-14-2.System's control method that utilization is carried can realize the identification and the control of NLS, and all has stronger robustness for the variation of object structure and parameter.PID realizes the decoupling zero control to the pig house environment factor through the identification study of network decoupling zero control and model through being programmed in of C language in the Control Node.Flow process is seen the latter half of Fig. 4.
3., the design of multi-interface gateway
The information interaction of on-the-spot Detection & Controling node and on-site supervision end 8 or remote center's monitoring client 19 need realize that multi-interface gateway 5 is terminals of information interaction between them through multi-interface gateway 5, plays a part to form a connecting link.Gateway is regularly inquired about the information of on-the-spot Detection & Controling node, and packing data is sent to center monitoring end 19 through GPRS module 6, GPRS network base station 10, GSM/GPRS/Internet net 12 or Intranet16, Internet21; Or opposite process; The instruction that center monitoring end 19 sends is sent to multi-interface gateway 5 through GSM/GPRS/Internet net 12, and multi-interface gateway 5 is sent to certain concrete Detection & Controling node with corresponding instruction; The information interaction of on-site supervision end 8 and on-the-spot Detection & Controling node also is the transfer through multi-interface gateway 5.The multi-interface gateway 5 main instruction (like inquiry, order etc.) of dispatching centre monitoring client 19, on-site supervision end 8, the request and the information uploadings of reception lower floor Detection & Controling node be responsible for have functions such as data fusion, Route Selection.It is the transit node of system; This multi-interface gateway 5 mainly contains serial line interface and connects GPS module 4, on-site supervision end 8, GPRS module 6, RS232/CAN bus module; Ethernet interface RJ45-9 realizes that on-the-spot Detection & Controling node and center monitoring end 19 through the information interaction of Ethernet and internet, have designed wireless communicaltion module access or field-bus interface and realized that multi-interface gateway 5 and on-the-spot Detection & Controling nodal information are mutual.Multi-interface gateway 5 softwares mainly are made up of with fieldbus message pick-up/transmission task, LCD demonstration task, keyboard task, multi-serial communication task, data fusion and ethernet communication task dispatching wireless, and the coordinated operation of each task is by scheduling of μ C/OS-II real-time multi-task operating system and management.For native system, in S3C2410, transplanted μ C/OS-II real-time multi-task operating system, μ C/OS-II is that the multitask real-time kernel of an open source, the formula of taking the lead is managed to carry out real-time multi-task.The scheduling model of operating system is 2 grades of scheduling mechanisms that task adds incident, and dispatching algorithm is simple FIFO, and task queue is a sensitive power consumption, and the single-threaded operation of basic task so only distributes single task stack.When task queue is sky, the processor dormancy, waiting event triggers scheduling.Between task is under the environment of multitask, to carry out synchronously, because each task major part is irrelevant each other in the system, shares the problem that can have resource contention with a kind of resource.Therefore, system adopts the method for event flag and semaphore to realize synchronization mechanism, makes origin operation need not turn off all interruptions, thereby can not cause the operating lag of system.The driver module of system has been realized A/D conversion, RF parts and peripherals (are comprised power supply, I
2C, serial ports and counter/timer etc.) management.The GPS module 4 of system adopts the GSU-36 receiver module; The serial communication interface of locating information module is sent to multi-interface gateway 5 processors with the NMEA0183 form; Processor in RAM, sends the information storage of the geographical location information of GPS module 4 and each monitor node and supplies center monitoring end 19 to receive through GPRS module 6 or Ethernet interface RJ45-9.GPRS module 6 is selected the TC35i module of TC35 series for use, has characteristics such as compact to design, high performance-price ratio, and the domestic wireless device card that networks has been arranged.In the pig house all Detection & Controling nodes can through wireless communication interface or CAN communication interface separately be articulated on the wireless sensor network or CAN-BUS fieldbus 15 buses on; Multi-interface gateway 5 not only can be organized and coordinates the sensor node in the pig house, and the interface that can be used as the communication of pig house inside and outside converges the data message of house inner sensor through adopting wireless or wired mode to send on on-site supervision end 8 and remote center's monitoring client 19 computing machines information in the pig house through GPRS module 6 or Ethernet interface RJ45-9.In multi-interface gateway 5, the multinode parameter is merged promptly: because the institute of each node goes out the position difference of pig house environment; Do not have comparability between them, system averages to the corresponding detected parameters of each node and merges the corresponding parameters of a plurality of nodes and as the actual value of Control and Feedback amount.The hardware configuration of multi-interface gateway 5 and software flow pattern are referring to Fig. 5,6.
4., on-site supervision end software design
On-site supervision end 8 is industrial control computers, and the on-site supervision end 8 main information interactions that realize on-site supervision end and monitoring unit Detection & Controling node realize the pig house environment factor parameter is gathered and monitored.This end is mainly through multi-interface gateway 5 information interaction with on-the-spot Detection & Controling node, and major function is the setting of on-site supervision end messaging parameter, the on-site parameters time of detecting is set, multi-interface gateway 5 is communicated by letter with on-site supervision terminal 8, parameter acquisition, data analysis, data preservation, data base administration, Implementation of Expert System and system maintenance.This expert system is mainly set the desirable controlling value of temperature, humidity of field terminal unit according to the optimum principle of financial cost; Main basis: cost model, live pig growth model, the market price of live pig, the market price of feed and the parameters such as growth phase of live pig of the control of envirment factor parameter; Obtain the economic optimum envirment factor parameter of current period live pig growth; Reasoning through expert system realizes, delivers to Control Node by on-site supervision end 8 through serial port, multi-interface gateway 5.This management software has selected Microsoft Visual++ 6.0 as developing instrument, and the Mscomm communication control of calling system designs communication program.The reasoning process of expert system is seen the first half of Fig. 4, and the process flow diagram of other functions is referring to Fig. 7.
5., center monitoring end program design
Center monitoring end 19 is one and has the fixedly computing machine of public network IP address; The monitor data management software of operation is the core of design above that; It has selected Microsoft Visual++ 6.0 as developing instrument, adopts the database manipulation mode to realize on-the-spot Detection & Controling node data is stored and read.Simultaneously in order to realize the fixed-point data that the Detection & Controling node that is distributed in the different region plant pig house is gathered is carried out space-time analysis, system integration GIS-Geographic Information System function has adopted the ArcGIS Engine built-in module storehouse of ESRI company.It goes back higher level operation functions such as support space analysis and 3D analysis except basic drawing, data edition and GIS function is provided.The center monitoring data management software is mainly realized reception, parsing, storage and the space-time analysis of data, according to functional requirement, is divided into like lower module: (1) data reception module.Adopt C/S client-server mode of operation between multi-interface gateway 5 and the control center terminal 19; Based on the Socket programming technique; Monitor the bundling port of local ip address; After confirming that client is the connection request of gateway node, receive data, and accomplish data parsing according to the self-defining data packet protocol.(2) database storing module.According to the acquisition time of data, adopt the data storage management mode of dividing time-steps, resolution data is stored in the corresponding attribute field of the corresponding form of database.(3) monitoring variable analysis module.From database table, reading Monitoring Data, is transverse axis with time, draws the time dependent curve of monitoring variable, analyzes monitoring variable continually varying characteristic.(4) monitoring variable spatial variability analysis module.One of native system innovative point is that GIS administrative analysis function is dissolved in the pig house environment factor parameter monitoring Application Design of many networks.Pig house environment factor parameter monitor network is intended to estimate the data on other non-node locations, the spatial distribution map of build environment variable through the locational environmental variance sampling of on-the-spot detection node.Utilize the exact position of GPS measured node, and nodename and positional information are input in the monitor data management software, generate sensor node figure layer.With monitoring variable field datas such as node humidity, temperature in the at interval received up-to-date node data real-time update environment of setting-up time,, obtain the monitoring variable space distribution of arbitrary period through the spatial analysis module implementation space interpolation of Arc Engine.
The employing GPS of this system technology is carried out real-time positioning to the pig house of the different regions that distribute; Utilize GPRS radio mobile communication network or Ethernet to carry out real-time Data Transmission; With electronic chart GIS and space information system is support platform, realizes location tracking, monitoring alarm and the high-tech technical system of information inquiry management integration function and complete system.Total system is made up of GPS telstar 11 positioning systems and communication system two large divisions, and communication system is made up of remote center's monitoring client, on-the-spot Detection & Controling unit, multi-interface gateway and four parts such as GPRS cordless communication network or Ethernet.Multi-interface gateway 5 can provide locator data, operation conditions and the warning message etc. of each target in real time for Surveillance center; And upload that center monitoring end 19 writes down these information automatically so that query analysis afterwards; Center monitoring end 19 combines the GIS electronic chart, demonstrates the envirment factor parameter information of current pig house node, the geographic position of pig house in real time.Data Receiving adopts the Socket network communication mechanism; Through the port of port watcher thread real-time listening user appointment, connect if there is remote I P request to set up TCP, then accept request and connect; The log-on data receiving thread receives this TCP and connects data sent simultaneously.In order to guarantee the complete of data, the data that receive are deposited in the buffer memory.At this moment; The data processing thread is according to the set form of predesignating; From buffer memory, extract a complete packet; And these data are further resolved, thereby obtain an active data, comprise monitoring pig house element number, send this packet multi-interface gateway 5 numberings, sensor data value and this packet via transmission path etc.If illegal, then abandon this packet.The valid data that parsing obtains can deposit in MS SQL Server 2005 databases in the database server through ADO.NET easily and efficiently.At first to number the table that whether has existed in the judgment data storehouse with this numbering name during data according to the monitored area in storage,, then data deposited in this table if do not exist then creates newly and show.Software flow pattern is seen Fig. 8.
6., WEB application server software design
Use and share in order to make the pig-breeding environmental data that gathers offer user 20 easily; The value of real performance data; System has realized 3 kinds of patterns; Comprise browser and server architecture (Brower/Server, B/S), the client-server structure (Client/Server, C/S) and Web Services pattern.Can realize different users through the B/S pattern, from different places, the data so that different access way visits is gathered reach the data sharing of wider scope.But can't carry out data processing, statistics and analysis efficiently under the B/S pattern, and C/S model can satisfy this demand just through making full use of the advantage of two ends hardware environment.Yet, the data sharing on the just user level that these two kinds of patterns provide, the user can only through browse with data download after could it be combined with the application of oneself.And utilize Web Services technology just can realize using the data sharing on (system) aspect.The WEB apps server adopts MS-IIS (Microsoft internet Information Server) technology, and the Web publishing module adopts ASP.NET and C# technology to realize the B/S architecture.User's operation realizes that through client browser (Brower) main business realizes that at server end (Server) data storage, extraction then realize in database server side, form 3 layers of (3-tier) structure.The user not only can understand the distribution situation of envirment factor parameter in pig house environment that current detection and Control Node detect in real time through browser, and can inquire about and downloads historical data, and draws the data variation curve of each node.Come the use of restricting data through the access rights of authorizing user's different stage.Native system adopts the .NET platform to realize the Web service of data issuing to the demand of data sharing aspect.The query argument that this service is submitted to according to caller is inquired about in database, and Query Result is returned to caller.The service on the network of being published to can be used (system) by other and found and call and obtain the data that need.Obtain a large amount of, real-time and continuous breeding environment data for relevant agricultural decision making so on the one hand approach efficiently is provided, realized on the other hand on the application efficiently, data sharing efficiently.The software configuration process flow diagram is seen Fig. 9.
7., the tables of data in the database server that adopted MS SQL Server 2005 software designs, comprise in the tables of data of design: fields such as pig house number, time, temperature, humidity, illuminance, CO2 concentration, NH3 concentration, H2S concentration.
8., the design example of supervisory system
Relative position according to the pig house swinery; System layout have detection node 13 (arranging its overhead height) and Control Node 14, multi-interface gateway 5, the on-site supervision end 8 of CAN field-bus interface, an installation diagram of control center according to the high flexible of live pig; Particularly wet curtain is distributed in the both sides of pig house; Blower fan is distributed in two of pig house; Heating radiator is 1 week and at 1 meter height around the inside of pig house, and the high pressure decontamination line of harmful gas is installed in 2 meters height, and the total system floor plan is seen Figure 10.
Claims (3)
1. network-type pig-breeding environmental control system is characterized in that by data acquisition and transport layer, data parsing and accumulation layer and data are used and inclusion layer 3 parts are formed; They carry out communication through wired or wireless mode, wherein,
1) data acquisition and transport layer: comprise detection node in the monitoring scene, Control Node, via node, multi-interface gateway, on-site supervision end, GPS module, GPRS module, GPRS network and Ethernet; Adopt miniature wireless sensor network or fieldbus networks as the platform of breeding environment information acquisition and parameter control in cultivation site, realize Distributed Multi collection and control the pig-breeding environmental information; Through via node accomplish the transmission of pig-breeding environment nodal information and the most at last convergence to multi-interface gateway, between multi-interface gateway and center monitoring end through GPRS module and GPRS network or Ethernet interface and Ethernet with the data in real time of collection send to the center monitoring end; According to the temperature in the live pig growing environment, humidity environment factor parameter is multivariate, strong coupling, big inertia controlling object, and system improves the precision of control and the response speed of parameter at Control Node design PID neural network decoupling; Monitoring client has designed based on the science setting to environment temperature, humidity of the Implementation of Expert System of economic optimum reasoning at the scene;
2) data parsing and accumulation layer: comprise center monitoring end, database server, be used to receive the data that come from data acquisition and transport layer, deposit valid data in database server after resolving through the data acquisition module on the center monitoring end; Realize storage and parsing and the inquiry and the supervision of total system information;
3) data are used and inclusion layer: comprise Web Application Server, user browser; Be used to realize that the user uses and shared data; In data use and inclusion layer, adopted the B/S pattern; Client in the B/S pattern detects the perhaps data of Control Node as long as get final product real time access, browse and download required monitoring scene through the browser access Web server, and can realize Long-distance Control.
2. system according to claim 1 is characterized in that, described multi-interface gateway is the gateway that has CAN EBI, wireless senser communication interface, serial communication interface, Ethernet interface, GPRS and GPS module interface; Can realize the diversity and the dirigibility of information interaction mode in data acquisition and the transport layer according to monitoring environment, weather conditions and objective condition through it; GPS module through multi-interface gateway combines according to the residing longitude and latitude in pig farm with the GIS of center monitoring end, and node combines and draws the map of pig house environment parameter distribution situation on realization desktop end and the network.
3. an intelligent envirment factor control method is characterized in that, may further comprise the steps:
1) data acquisition and transmission: adopt miniature wireless sensor network or fieldbus networks node as breeding environment information acquisition and control terminal in cultivation site, realize Distributed Multi collection and Based Intelligent Control to the pig-breeding environmental information; Then; Through via node accomplish the transmission of pig-breeding environmental information and the most at last convergence to system's multi-interface gateway, between multi-interface gateway and center monitoring end through GPRS module and GPRS network or Ethernet interface and Ethernet with the data in real time of collection send to the center monitoring end; Data acquisition realizes with the data acquisition and the transport layer of transmission by claim 1;
2) data parsing and storage: after the center monitoring termination is received data, deposit valid data in database server again after the data acquisition module parsing through the center monitoring end; Realize storage and parsing and the inquiry and the supervision of total system information; Data parsing realizes with the data parsing and the accumulation layer of storage by claim 1;
3) data are used and shared: the user can realize real time access, browses and download the data of required monitoring collection in worksite node through the browser access Web server, and can realize Long-distance Control; Data are used and are shared by the data and the inclusion layer of claim 1 and realize.
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