CN103931325A - Dual-purpose fertilizing device capable of accurately preparing fertilizer and irrigating clear water and EC+PH adjusting method thereof - Google Patents
Dual-purpose fertilizing device capable of accurately preparing fertilizer and irrigating clear water and EC+PH adjusting method thereof Download PDFInfo
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- CN103931325A CN103931325A CN201410171976.5A CN201410171976A CN103931325A CN 103931325 A CN103931325 A CN 103931325A CN 201410171976 A CN201410171976 A CN 201410171976A CN 103931325 A CN103931325 A CN 103931325A
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Abstract
The invention provides a dual-purpose fertilizing device capable of accurately preparing a fertilizer and irrigating clear water and an EC+PH adjusting method thereof. According to the device, a water feeding system and a fertilizer feeding system are arranged in a fertilizer mixing tank; a backflow pipeline is arranged on the fertilizer mixing tank and a fertilizer feeding pipeline; a fertilizer concentration acquisition device and a pH acquisition device are arranged on the backflow pipeline, and are connected with a fertilizer preparation control system respectively through data lines; and the fertilizer preparation control system is electrically connected with a fertilizer suction electromagnetic valve and a fertilizing pump. Key parameters of an algorithm and a control way are adjusted in real time according to a parameter change situation on the basis of a closed-loop control principle and PID (Proportion Integration Differentiation) adjustment and in combination with the object features of a fertilizer liquid reaction process, in particular the non-linear process features of PH parameter change, and accurate and stable control of EC and PH of a fertilizer liquid is realized by using a most proper control strategy and corresponding regulation and control parameters under different working conditions of a fertilizer preparation reaction process.
Description
Technical field
The invention belongs to farm machinery technical field, relate in particular to a kind of precisely join fertile and clear water irrigation dual-purpose fertilizer apparatus and EC+PH control method thereof.
Background technology
20 century 70s, China starts to introduce fertigation technology and carries out correlation technique research and extension, although obtaining significant progress aspect irrigation Based Intelligent Control, but domestic failing so far researched and developed and made a breakthrough automatically precisely joining fertile research and the relevant device controlled, what domestic practical application was more is still the external fertilization system such as Israel, Italy, and system constructing cost is expensive.Thereby be necessary to integrate multidisciplinary and existing scientific achievement, develop a kind of economical and practical, automatically join the water-fertilizer integral precisely controlling system that fertile precision is high, meet agricultural production demand.
Summary of the invention
The object of the present invention is to provide a kind of precisely join fertile and clear water irrigation dual-purpose fertilizer apparatus, be intended to solve be difficult to realize as required in irrigation process and automatically precisely join fertile problem.
A further object of the present invention is to provide the above-mentioned EC+PH control method fertile and clear water irrigation dual-purpose fertilizer apparatus of precisely joining.
The present invention realizes like this, a kind of fertilizer and clear water irrigation dual-purpose fertilizer apparatus of precisely joining, comprise mixed fertile tank, the water intaking valve that adds clear water toward described mixed fertile tank, for Floating Ball Liquid Level Control switch minimum in the mixed fertile tank of basis and that the highly automated control water intaking valve of peak level carries out respective switch operation, toward described mixed fertile tank, add the venturi pump of former fertilizer or acid solution and inhale fertile magnetic valve, fertilizing pump, the return line that comprises two output pipes, fertilizer concentration harvester, pH harvester, and join fertile control system; Wherein,
Described mixed fertile tank connects by pipeline respectively at water intaking valve output, venturi pump output and fertilizing pump input, and is provided with Floating Ball Liquid Level Control switch in described mixed fertile tank;
Described venturi pump input is connected by pipeline with the fertile magnetic valve of suction;
Described fertilizing pump output is connected with the input of return line, and described return line the first output pipe is connected to venturi pump and inhales on the pipeline between fertile magnetic valve, and the second output pipe is connected with mixed fertile tank; Described the second output pipe is provided with fertilizer concentration harvester, pH harvester, described fertilizer concentration harvester, pH harvester respectively with join fertile control system data wire and be connected, described in join fertile control system and inhale fertile magnetic valve, fertilizing pump is electrically connected to.
Preferably, described in, joining fertile control system comprises:
Data collection module, the fertilizer concentration and the pH value that for collecting fertilizer concentration harvester and pH harvester, collect respectively;
Adjustment module, for control described fertilizing pump, the fertile electromagnetic valve work of suction according to the collection value of described data collection module, so that fertilizer is in described return line, mixed fertile tank circulation circulation; Wherein,
Described fertilizer concentration harvester and pH harvester are connected with data collection module respectively, and described data collection module is connected with adjustment module, described adjustment module respectively with fertilizing pump, inhale fertile magnetic valve and be connected.
Preferably, this fertilizer apparatus also comprises touch screen human-computer interaction interface, for showing in real time collection value and the duty of fertilizer concentration harvester and pH harvester, and by the setting of touch screen mode of operation, join fertilizer formula, fertilizer concentration, PH and control target component; Wherein, described touch screen human-computer interaction interface is connected with adjustment module.
Preferably, described water intaking valve is connected to mixed fertile tank middle and upper part by pipeline; Described venturi pump is connected to mixed fertile tank by pipeline; The input of described fertilizing pump is connected on mixed fertile tank by pipeline, and this tie point is positioned under mixed fertile tank lowest water level height.
Preferably, this fertilizer apparatus also comprises fertigation output valve, and the another output of described fertilizing pump is connected with fertigation output valve by pipeline.
The present invention further provides the above-mentioned EC+PH control method fertile and clear water irrigation dual-purpose fertilizer apparatus of precisely joining, comprised the following steps:
(1) by joining fertile control system, set final needed fertilizer EC concentration value, pH value and fertilizing amount;
(2) in joining fertile control system, that sets PH to regulate acid solution be fertilizer calculates its impact on fertilizer solution concentration in the lump, and the new getting fat amount of each control cycle is counted during controlled quentity controlled variable calculates for the impact compensation of acid-base value;
(3) join fertile control system and join fertile fertilizer EC and pH by fertilizer concentration harvester, pH harvester Real-time Obtaining, and compare with the EC, the pH that set, open fertilizing pump and calculate to inhale the opening time of fertile magnetic valve and convert pulse-width signal output control to and inhale fertile electromagnetic valve switch, controlling the soakage of former fertilizer and acid solution.
Preferably, in step (3), the switch of the fertile magnetic valve of described suction is controlled the pid control mode based on EC and pH value, and the calculating of the fertile magnetic valve opening time of described suction is decided by the dutycycle of PWM.
The present invention overcomes the deficiencies in the prior art, a kind of precisely join fertilizer apparatus and EC+PH control method thereof fertile and clear water irrigation dual-purpose are provided, based on loop control theory, with PID, be adjusted to basis, features of the object in conjunction with solution course of reaction, especially the non-linear process feature that PH parameter changes, according to parameter situation of change, regulate in real time algorithm key parameter and control mode, under the different operating modes of fertile course of reaction, use most suitable control strategy and corresponding regulation and control parameter to realize precisely steadily controlling of solution EC and PH joining.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention precisely joins fertilizer apparatus one embodiment of fertile and clear water irrigation dual-purpose;
Fig. 2 is the flow chart of steps of the EC+PH control method of the present invention's fertilizer apparatus of precisely joining fertile and clear water irrigation dual-purpose.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, wherein, Fig. 1 is the structural representation that the present invention precisely joins fertilizer apparatus one embodiment of fertile and clear water irrigation dual-purpose.
A kind of fertilizer apparatus of precisely joining fertile and clear water irrigation dual-purpose, comprise mixed fertile tank 1, the water intaking valve 2 that adds clear water toward described mixed fertile tank, for the interior minimum Floating Ball Liquid Level Control switch 3 that carries out respective switch operation with the highly automated control water intaking valve 2 of peak level of the mixed fertile tank 1 of basis, toward described mixed fertile tank 1, add the venturi pump 4 of former fertilizer or acid solution and inhale fertile magnetic valve 5, fertilizing pump 6, the return line 9 that comprises two output pipes, fertilizer concentration harvester 8, pH harvester 10, and join fertile control system 11; Wherein, described mixed fertile tank 1 is connected by pipeline with water intaking valve 2 outputs, venturi pump 4 outputs and fertilizing pump 6 inputs respectively, and is provided with Floating Ball Liquid Level Control switch 3 in described mixed fertile tank 1; Described venturi pump 4 inputs are connected by pipeline with the fertile magnetic valve 5 of suction; Described fertilizing pump 6 outputs are connected with the input of return line 9, and described return line 9 first output pipes are connected to venturi pump 4 and inhale on the pipeline between fertile magnetic valve 5, and the second output pipe is connected with mixed fertile tank 1; Described the second output pipe is provided with fertilizer concentration harvester 8, pH harvester 10, described fertilizer concentration harvester 8, pH harvester 10 respectively with join fertile control system 11 data wires and be connected, described in join fertile control system 11 and inhale fertile magnetic valve 5, fertilizing pump 6 is electrically connected to.
More specifically, described water intaking valve 2 is connected to mixed fertile tank 1 middle and upper part by pipeline; Described venturi pump 4 is connected to mixed fertile tank 1 by pipeline; The input of described fertilizing pump 6 is connected on mixed fertile tank 1 by pipeline, and this tie point is positioned under mixed fertile tank 1 lowest water level height.In addition, this fertilizer apparatus also comprises fertigation output valve 7, and the another output of described fertilizing pump 6 is connected with fertigation output valve 7 by pipeline.
In actual application of the present invention, water intaking valve 2 is chosen at mixed fertile tank 1 higher position, keeps water inlet to have a determined power, promotes the interior rich water of mixed fertile tank 1 to merge, and improves mixed fertile speed and the uniformity.The present invention adopts venturi pump 4 to coordinate the fertile magnetic valve 5 of suction to draw fertilizer, wherein venturi pump 4 utilizes jet current principle, current by the venturi pump 4 of flowing through drive generation to inhale fertile power, and magnetic valve 5, as controllable component, is controlled the fertilizer-sucting quantity of its unit control cycle by its switch time.
Flow and pressure that venturi pump 4 is inhaled fertile uninterrupted and fertilzer sucking pipe road have relation, for make venturi pump 4 work be stabilized in its nominal as far as possible, inhale near fertile flow, (1) fertilizing pump 6 flow parameters are selected can be according to formula: fertilizing pump 6 flow value >=outlet pipeline flow maximum+venturi pump 4 number * rated flows; (2) while determining the lift parameter of fertilizing pump 6, will meet on the one hand the requirement of irrigation pipe network pressure, the value range that the lift of fertilizing pump 6 changes with uninterrupted simultaneously preferably can correspondingly be inhaled in several operating pressures interval that fertile flow difference is less at venturi pump 4.In order to guarantee the degree of regulation of fertilizer concentration EC and acid-base value PH, fertilizer concentration harvester 8, pH harvester 10 are selected the sensor that precision is higher on the one hand, wherein EC sensor accuracy is about 0.05～0.1ms/cm, and PH sensor accuracy is about 0.01～0.05; On the other hand, return fertile sampling sensor the U-shaped pipe device of employing is installed, guaranteeing can have lasting even detectable solution to reflux in pipeline.Inhale fertile magnetic valve 5 simultaneously and select rapid-action impulse electromagnetic valve, reaction time grade is in 20～80ms left and right, and action frequency, more than 1.5 thousand ten thousand times, can adapt to the fast frequent switch of joining fertile adjustment process preferably.
In embodiments of the present invention, return line 9 adopts fertilizing pump 6 that power is provided, and while making fertilizer enter mixed fertile tank 1, has enough power, can mix with clear water fully fast.The in the situation that of definite fertilizing pump 6, pipeline and venturi pump 4 parameters and correlation thereof, the EC that EC on pipeline, PH sensor are gathered and pH value are as closed-loop control value of feedback, according to itself and the difference of setting EC, pH value, carry out PID adjusting, by the output pwm signal pulsewidth calculating (=the unit interval, required fertilizer-sucting quantity/venturi pump was inhaled fertile speed), by pulse signal, go to control the switch time that fertile magnetic valve 5 is inhaled in each road pulse, thereby control the concentration of the fertilizer-sucting quantity control fertilizer in the unit interval, reach the object of accurate control fertilizer concentration and pH.
In further implementation process, in order to make device more intelligent so that operation and management, in embodiments of the present invention, described in join fertile control system 11 and comprise:
Data collection module 111, the fertilizer concentration and the pH value that for collecting fertilizer concentration harvester and pH harvester, collect respectively; Adjustment module 112, for controlling described fertilizing pump 6 according to the collection value of described data collection module 111, inhale fertile magnetic valve 5 work, so that fertilizer is at described return line 9, mixed fertile tank 1 circular flow accurately EC, pH value of regulation and control solution in turning over journey as requested; Wherein, described fertilizer concentration harvester 8 and pH harvester 10 are connected with data collection module 111 respectively, and described data collection module 111 is connected with adjustment module 112, described adjustment module 112 respectively at fertilizing pump 6, inhale fertile magnetic valve 5 and connect.
More specifically, this fertilizer apparatus also comprises touch screen human-computer interaction interface 12, for showing in real time collection value and the duty of fertilizer concentration harvester 8 and pH harvester 10, and by the setting of touch screen mode of operation, join fertilizer formula, fertilizer concentration, PH and control target component; Wherein, described touch screen human-computer interaction interface 12 is connected with adjustment module 112.
In actual application of the present invention, by touch screen, operate and send concrete instruction, control concentration, pH and the applied amount of fertilizer, and monitor in real time the state of each relevant parameters, such as vehicle-mounted clear water amount, former fertile amount, fertilizer concentration value (fertilizer concentration value, pH value, valve working state) etc., system can be in fertilising process continual dynamic adjustments fertilizer solution concentration.The data that 112 pairs of fertilizer concentration harvesters 8 of adjustment module collect are carried out real-time analysis, when fertilizer concentration is too high, adjustment module shortens venturi pump 4, inhales fertile battery valve 5 opening times, when concentration is too low, extend venturi pump 4, inhale the fertile 5 fertile times of suction of battery valve, fertilizer mixes in fertile tank 1 and pipeline cyclic process, by fertigation valve, sent, the whole fertilising process of joining in fertile adjustment process is successive, do not affect fertigation operation, use more intelligent convenience, practicality is stronger, and accuracy is higher.
As shown in Figure 2, the present invention further provides above-mentioned EC+PH control method of precisely joining the fertilizer apparatus of fertile and clear water irrigation dual-purpose, comprised the following steps:
S1, by joining fertile control system, set final needed fertilizer EC concentration value, pH value and fertilizing amount;
In step S1, regulation index is: EC normal range value is 1～4, and according to practical experience, corresponding fertilizer and clear water amount ratio are about between 1:100～1:200; Crop fertilizer PH normal range (NR) is generally between 5.5～7, slant acidity.
Wherein, the nominal of EC value be fertilizer concentration, generally by regulating fertilizer and clear water proportional quantity to realize.It is a nonlinear course of reaction that acid-base value during solution proportioning changes.Approach neutrality (pH=7), pH value is more responsive to the reaction of regulator solution, for example, with same centinormal 1 reagent, regulate pH value, if be adjusted to pH=6 from pH=7, need add 1 volume-adjustment liquid, is adjusted to pH=4 needs to add 100 volume-adjustment liquid from pH=7.Thereby near neutral point in section, the proportionality coefficient of control algolithm should be less, excises its differential action, the trace of realizing acid solution regulates.
S2, in joining fertile control system, that sets PH to regulate acid solution be fertilizer calculates its impact on fertilizer solution concentration in the lump, and the new getting fat amount of each control cycle is counted during controlled quentity controlled variable calculates for the impact compensation of acid-base value;
In step S2, due to EC and PH, the two influences each other, and PH is regulated acid solution to be considered as one of fertilizer in EC regulation and control and calculates its impact on fertilizer solution concentration; In PH regulates, also by each control cycle, new getting fat amount counts during controlled quentity controlled variable calculates for the impact compensation of acid-base value, in order to avoid the phenomenon of attending to one thing and lose sight of another appears in the adjusting of EC and PH.
S3, join fertile control system and join fertile fertilizer EC and pH by fertilizer concentration harvester, pH harvester Real-time Obtaining, and compare with the EC, the pH that set, calculate to inhale the opening time of fertile magnetic valve and convert pulse-width signal output to and control the fertile electromagnetic valve switch of suction, control the soakage of former fertilizer and acid solution.
In step S3, the switch of the fertile magnetic valve of described suction is controlled the pid control mode based on EC and pH value, and the calculating of the fertile magnetic valve opening time of described suction is decided by the dutycycle of PWM.
The selected of pid parameter is also relevant with the flow velocity of inhaling fertile valve, and in general valve flow is larger, and corresponding proportional control factor can be larger, but integral control coefficient can be less.In addition, join the fertile speed regulating relevant with liquid manure exchange rate in fertile tank, when end water consumption is large, corresponding fertile tank rich water exchange is accelerated, and joins the also degree of regulation of necessary raising guarantee EC and PH of fertile speed control.
Join EC that fertile control system 11 gathers EC on pipeline, PH harvester 9,11 and pH value as closed-loop control value of feedback, according to itself and the difference of setting EC, pH value, carry out PID adjusting, by the output pwm signal pulsewidth calculating (=the unit interval, required fertilizer-sucting quantity/venturi pump was inhaled fertile speed), by pulse signal, go to control the switch time of each road impulse electromagnetic valve (8), thereby control the concentration of the fertilizer-sucting quantity control fertilizer in the unit interval
In a control cycle, be that the dutycycle by PWM decides the switch time of valve.When real value is lower than when setting value, by increases, controls the dutycycle of the PWM of magnetic valve, increase the fertile time span of suction, thus increase EC value or pH value.When real value is higher than when setting value, by reductions, controls the dutycycle of the PWM of magnetic valve, the fertile time span of shortening suction, reduces EC value or pH value.This control method is the pid control mode based on EC and pH value, when real value is much smaller than setting value, passing ratio coefficient acting can obtain the control output that intensity is larger, by the suitable differential action, also can predict the variation tendency of parameter, output control action, has realized fast and stably and having controlled in time.
In actual application of the present invention, mainly from two aspects of software and hardware, guarantee to join fertile quick adjustment and precision:
1, hardware: for shortening control cycle, component configuration
(1) 1s is with EC, the PH sensor of interior data acquisition, makes the feedback sample cycle of control system can be in 1～1.5s left and right;
(2) impulse electromagnetic valve responding fast: in the reaction time of 20ms left and right, guarantee the instant execution of switch motion, and taken into account the valve open time, be i.e. the accurate control of fertilizer-sucting quantity in control cycle
2, software:
(1) controller adopts real-time embedded operating system, realizes grabbing in real time of high-priority task completely, guarantees that sampling, control are calculated and the real-time of signal output.
(2) integrated system capacity and device feature performance, selected control cycle is 3～6s left and right, assurance parts are carried out when reaching arithmetic accuracy requirement, also avoid the inhomogeneous feedback that causes of EC, PH in fertilizer mixed process to gather the mistuning joint that value mutation fluctuates and causes
(3), for different operating mode sections, regulate in real time parameter and the control mode of pid algorithm.Mainly for the Nonlinear Adjustment of PH, thereby in section, can reduce the proportionality coefficient of control algolithm near neutral point, excise its differential action simultaneously, the trace of realizing acid solution regulates.
Than the shortcoming and defect of prior art, the present invention has following beneficial effect:
1, join fertile precision high
The present invention adopts closed-loop fashion regulation and control solution EC, pH value, and take high-precision sensor acquisition parameter, fast reaction governor motion is basis, in conjunction with the regulation and control of high real-time software, calculates, and obtains quick, stable EC, PH and controls effect.
2, cost performance is high
The present invention is based on mature technology independence development system software and hardware, reduce costs; Can meet intelligent clear water irrigates and Tree Precise Fertilization requirement automatically, dual-use simultaneously.
3, practical
The present invention supports the fertilizer irrigation simultaneously of many irrigated areas, and touch-screen man-machine interaction supports the scene of fertilizer application formula and regulation and control parameter to arrange, and guarantees to control the promptness of adjusting flexibility and fertigation operation.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (7)
1. precisely join fertile and clear water irrigation dual-purpose fertilizer apparatus for one kind, it is characterized in that, comprise mixed fertile tank, the water intaking valve that adds clear water toward described mixed fertile tank, for Floating Ball Liquid Level Control switch minimum in the mixed fertile tank of basis and that the highly automated control water intaking valve of peak level carries out respective switch operation, toward described mixed fertile tank, add the venturi pump of former fertilizer or acid solution and inhale fertile magnetic valve, fertilizing pump, the return line that comprises two output pipes, fertilizer concentration harvester, pH harvester, and join fertile control system; Wherein,
Described mixed fertile tank connects by pipeline respectively at water intaking valve output, venturi pump output and fertilizing pump input, and is provided with Floating Ball Liquid Level Control switch in described mixed fertile tank;
Described venturi pump input is connected by pipeline with the fertile magnetic valve of suction;
Described fertilizing pump output is connected with the input of return line, and described return line the first output pipe is connected to venturi pump and inhales on the pipeline between fertile magnetic valve, and the second output pipe is connected with mixed fertile tank; Described the second output pipe is provided with fertilizer concentration harvester, pH harvester, described fertilizer concentration harvester, pH harvester respectively with join fertile control system data wire and be connected, described in join fertile control system and inhale fertile magnetic valve, fertilizing pump is electrically connected to.
2. as claimed in claim 1ly precisely join fertile and clear water irrigation dual-purpose fertilizer apparatus, it is characterized in that, described in join fertile control system and comprise:
Data collection module, the fertilizer concentration and the pH value that for collecting fertilizer concentration harvester and pH harvester, collect respectively;
Adjustment module, for control described fertilizing pump, the fertile electromagnetic valve work of suction according to the collection value of described data collection module, so that fertilizer is in described return line, mixed fertile tank circulation circulation; Wherein,
Described fertilizer concentration harvester and pH harvester are connected with data collection module respectively, and described data collection module is connected with adjustment module, described adjustment module respectively with fertilizing pump, inhale fertile magnetic valve and be connected.
3. as claimed in claim 2ly precisely join fertile and clear water irrigation dual-purpose fertilizer apparatus, it is characterized in that, this fertilizer apparatus also comprises touch screen human-computer interaction interface, for showing in real time collection value and the duty of fertilizer concentration harvester and pH harvester, and by the setting of touch screen mode of operation, join fertilizer formula, fertilizer concentration, PH and control target component; Wherein, described touch screen human-computer interaction interface is connected with adjustment module.
4. fertilizer and the clear water irrigation dual-purpose fertilizer apparatus of precisely joining as claimed in claim 3, is characterized in that, described water intaking valve is connected to mixed fertile tank middle and upper part by pipeline; Described venturi pump is connected to mixed fertile tank by pipeline; The input of described fertilizing pump is connected on mixed fertile tank by pipeline, and this tie point is positioned under mixed fertile tank lowest water level height.
5. fertilizer and the clear water irrigation dual-purpose fertilizer apparatus of precisely joining as claimed in claim 4, is characterized in that, this fertilizer apparatus also comprises fertigation output valve, and the another output of described fertilizing pump is connected with fertigation output valve by pipeline.
6. described in claim 1～5 any one, precisely join EC+PH control method fertile and clear water irrigation dual-purpose fertilizer apparatus, it is characterized in that comprising the following steps:
(1) by joining fertile control system, set final needed fertilizer EC concentration value, pH value and fertilizing amount;
(2) in joining fertile control system, that sets PH to regulate acid solution be fertilizer calculates its impact on fertilizer solution concentration in the lump, and the new getting fat amount of each control cycle is counted during controlled quentity controlled variable calculates for the impact compensation of acid-base value;
(3) join fertile control system and join fertile fertilizer EC and pH by fertilizer concentration harvester, pH harvester Real-time Obtaining, and compare with the EC, the pH that set, open fertilizing pump and calculate to inhale the opening time of fertile magnetic valve and convert pulse-width signal output control to and inhale fertile electromagnetic valve switch, controlling the soakage of former fertilizer and acid solution.
7. as claimed in claim 6ly precisely join EC+PH control method fertile and clear water irrigation dual-purpose fertilizer apparatus, it is characterized in that, in step (3), the switch of the fertile magnetic valve of described suction is controlled the pid control mode based on EC and pH value, and the calculating of the fertile magnetic valve opening time of described suction is decided by the dutycycle of PWM.
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| CN105027789A (en) * | 2015-06-15 | 2015-11-11 | 沃圃生（北京）农业科技有限公司 | Intelligent fertilizer applicator and fertilizer application control method |
| CN105103765A (en) * | 2015-10-15 | 2015-12-02 | 河北润农节水科技股份有限公司 | Direct-current electric fertilizer distributor |
| CN105993350A (en) * | 2016-06-14 | 2016-10-12 | 山东省农业可持续发展研究所 | Remote control and timing-quantitative monitor device for water and fertilizer supply of wet land substrate |
| CN105993350B (en) * | 2016-06-14 | 2017-11-10 | 山东省农业可持续发展研究所 | A kind of remote control monitors wetland substrate and fed water to fertile device at regular time and quantity |
| CN106171233A (en) * | 2016-08-30 | 2016-12-07 | 嘉施利（新疆）水溶肥有限公司 | Constant concentration fertilizing equipment and constant concentration control method thereof for Water soluble fertilizer |
| CN106171233B (en) * | 2016-08-30 | 2018-03-30 | 嘉施利（新疆）水溶肥有限公司 | Constant concentration control method for Water soluble fertilizer |
| CN106311034A (en) * | 2016-09-28 | 2017-01-11 | 马勇 | Automatic liquid fertilizer preparation device |
| CN106708138A (en) * | 2016-11-28 | 2017-05-24 | 上海左岸芯慧电子科技有限公司 | Intelligent digital fertilizer-mixing acid base-adjusting liquid level-controlling device |
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| CN107272754A (en) * | 2017-06-19 | 2017-10-20 | 西北农林科技大学 | A kind of liquid manure accurate proportioning control system based on fuzzy |
| CN107272754B (en) * | 2017-06-19 | 2023-02-28 | 西北农林科技大学 | Water and fertilizer accurate proportioning control system based on fuzzy PID |
| CN107360775A (en) * | 2017-07-11 | 2017-11-21 | 中工武大设计研究有限公司 | The fertilising accuracy control method and its control system of a kind of water-fertilizer integral equipment |
| CN107980575A (en) * | 2017-12-04 | 2018-05-04 | 深圳春沐源控股有限公司 | The preparation method and device of a kind of nutrient solution |
| CN109906736A (en) * | 2017-12-13 | 2019-06-21 | 京蓝沐禾节水装备有限公司 | Standby fertilizer device and irrigation sprinkler and fertilizing method including this for fertilizer device |
| CN107980324A (en) * | 2017-12-28 | 2018-05-04 | 王伟宏 | Venturi variable fertilizer applicator based on adjustable speed water pump |
| CN109661887A (en) * | 2019-02-19 | 2019-04-23 | 山东省计算中心（国家超级计算济南中心） | A kind of liquid manure system and control method suitable for the plantation of agricultural greenhouse vegetable and fruit |
| CN110192516A (en) * | 2019-06-06 | 2019-09-03 | 湖南大学 | A kind of irrigation method, system and device |
| CN110402667A (en) * | 2019-09-02 | 2019-11-05 | 山东农业大学 | A kind of water-fertilizer integral control device and method |
| CN111217639A (en) * | 2020-01-18 | 2020-06-02 | 江苏绿港现代农业发展有限公司 | Multi-element qualitative and quantitative fertilizer preparation device and method |
| CN112782971A (en) * | 2020-12-30 | 2021-05-11 | 江苏省农业科学院 | Greenhouse intelligent water and fertilizer mixing regulation and control system and method based on PID algorithm |
| CN112782971B (en) * | 2020-12-30 | 2023-10-13 | 江苏省农业科学院 | Control method of intelligent water-fertilizer mixing regulation and control system for greenhouse based on PID algorithm |
| CN112753549A (en) * | 2021-02-22 | 2021-05-07 | 中国农业科学院农田灌溉研究所 | High-uniformity reel type sprinkling irrigation device |
| CN114208470A (en) * | 2021-12-25 | 2022-03-22 | 无锡恺易物联网科技发展有限公司 | Intelligent water and fertilizer regulation and control device and method based on PID algorithm |
| CN114557180A (en) * | 2022-01-11 | 2022-05-31 | 江苏农林职业技术学院 | Intelligent strawberry water and fertilizer regulation and control device and method |
| CN114631421A (en) * | 2022-02-25 | 2022-06-17 | 南京市蔬菜科学研究所(南京市花卉科学研究所) | Uniform-speed and accurate water and fertilizer integrated fertilization system and application thereof |
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Application publication date: 20140723 |