CN104155925A - Henhouse micro climatic environment intelligent control system based on wireless sensor network - Google Patents
Henhouse micro climatic environment intelligent control system based on wireless sensor network Download PDFInfo
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Abstract
The invention discloses a henhouse micro climatic environment intelligent control system based on a wireless sensor network. The henhouse micro climatic environment intelligent control system is characterized by comprising a henhouse micro climatic environment parameter acquisition and control platform, a henhouse micro climate farming environment cascade control system based on a DRNN PID neural network, and an expert system based on economic optimal reasoning and for setting ideal values of controlled henhouse micro climatic environment parameters. According to the invention, the henhouse micro climatic environment intelligent control system based on the wireless sensor network is designed through the characteristics of multiple parameter variables, nonlinearity, strong coupling and large inertia of conventional henhouse farming micro climatic environment.
Description
Technical field
The present invention relates to intelligent control device technical field, be specifically related to a kind of based on wireless sensor network hen house microclimate environment intelligent control system.
Background technology
Along with the fast development of feeding chicken in largely scale in recent years; intensive, the industrialization degree of poultry husbandry improve constantly; the impact of the health of hen house microclimate environment on chicken and production performance is more and more large; be to extend laying hen in egg laying peak period for chicken group creates an adapt circumstance condition, improve the key link of poultry economic benefit.Along with resistance against diseases and the general level of the health of chicken are on a declining curve; this just requires the environment controlling technique of feeding chicken in largely scale will constantly catch up with the needs that modern poultry is produced more; adjust target and the strategy of the control of poultry environment in good time; constantly novel environment of chicken house control technology and the equipment of development and application, for the healthy and safe production of modern poultry husbandry provides safeguard and technical support.
It is mainly the production performance that improves chicken, operator's economic benefit, guarantee chicken group's health etc. that the target of feeding chicken in largely scale hen house environment control is summed up.At present, the target of feeding chicken in largely scale house environment control is the angle from improving chicken group production performance mostly, and the mutual relationship of microclimate environment condition and chicken group production performance is determined adapt circumstance design parameter value.Environment temperature on the surviving of chicken, sexal maturity, fertilization lay eggs, egg size, quality of egg and efficiency of feed utilization have obvious impact.Chicken group lives in bad environment for a long time, and environment of chicken house is severe, and chicken resistibility reduces, and the chicken group incidence of disease is high, and mortality ratio increases, and production performance declines relevant.Adjust environment of chicken house, both improved chicken all living creatures dis environment, improved again the resistibility to disease, both saved unnecessary consumption cost, more improved production performance.Environment of chicken house is controlled in poultry production and plays very important effect, and environment control is the optimal selection that solves at present epidemic disease problem and improve production performance, and humiture is to affect the primary environment factor that chicken group is healthy and performance is brought into play.Temperature is the primary warm factor that affects chicken health and production performance.In the time that environment temperature reduces, the heat dissipation capacity of body increases, and chicken, in order to maintain thermostasis, must improve metabolic rate, increase quantity of heat production.In the time that temperature is too low, body there will be shivers, and makes metabolic heat production greatly increase to maintain thermostasis.If environment temperature continues to decline, body can too much cause temperature decline because of loss of heat, when serious, can cause death.If temperature raises, body heat radiation is obstructed, and physics regulates can not maintain thermostasis, accumulation of heat in body, thus cause that metabolic rate improves.When temperature continues to raise, body there will be hot panting and the rising of body temperature.The optimum temperature of laying hen is 13 1 23 DEG C, and extremes of temperature is all unfavorable for laying eggs, the too low feed conversion rate variance of temperature.Suitable humidity and the normal growth of chicken are grown closely related, and humidity combines and concurs with temperature the impact of chicken.In the time of high temperature, high humidity easily causes going mouldy of feed and bedding and padding, and the filth of chick feather causes bird to break out mycosis and global-worm illness.Relative humidity is higher, illustrates that air is the more humid, and relative humidity is lower, illustrates that air is drier.Humidity is too low, the feather disorder of chicken, and dry skin, the color and luster dimnesses such as feather, beak, pawl, and very easily cause the dehydration of chicken body and cause various respiratory tract disease.The height of humidity to chick with become chicken to have considerable influence.As too low in chick relative humidity, in Chickens, moisture distributes by breathing in a large number, have a strong impact on remaining absorption of yolk at its in Chickens, feather growth is bad, easily hyperposia and diarrhea, also easily cause breathing problem, relative humidity is too high, and not only tide temperature in house, and the normal body heat of chick is distributed the evaporation with moisture and is obstructed, chick is felt sultry discomfort, the environment of this humidity is beneficial to again pathogenic fungi, and bacterium and parasitic growth and breeding easily cause feed, bedding and padding are mould loses, make chick break out infectious disease, respiratory tract, parasitic disease etc.The optimum humidity of laying hen is 60% one 70%, if humidity is too low in house, will cause the disorder of laying hen feather, dry skin, feather and the color and luster dimnesses such as pawl of tremnbling, and very easily cause the dehydration of chicken body and cause chicken group's breathing problem.If humidity is too high in house, will make chicken breathe time, row falls apart and is difficult for distributing to airborne moisture, causes the filth of chicken body, and germ amount reproduction, causes various diseases, causes the decline of egg production, and the upper limit humidity of laying hen raises and declines with temperature.Therefore,, in daily management, handle insulation well and control wet relation.The interior air of maintenance house is fresh, well-ventilated is very important.Especially at high-density rearing's hen house, this problem is even more important.Because draw badly, have at any time a large amount of harmful gases as ammonia, carbon dioxide and sulfuretted hydrogen etc. discharge, affect normally laying eggs and causing various diseases of chicken.In the winter time, chicken body gas velocity is around advisable with 0.1-0.2 meter per second, the highest 0.35 meter per second that is no more than; Should improve the gas velocity in hen house summer as far as possible, increase ventilation.Present most of plant adopts longitudinal exhaust ventilation, on the wall of hen house-end, blower fan is installed and is outwards bled, and on other end wall, air intake opening is set, to house in air intake.Require in house air-flow evenly, without dead angle.Harmful wind is larger to the harm of chicken, can make chicken body part catch a cold, and causes part frozen, arthritis, muscle inflammation, neuritis, flu, even the disease such as pneumonia, paralysis.In ventilating, can wall with flues be set or send inwards hot blast etc. with warm-air drier at the wall of air inlet.Chicken belongs to needs long-day animal, and illumination not only affects the growth of chicken, and chicken production performance is had to impact.Illumination is larger on the egg laying performance impact of chicken, and reasonably illumination energy induction of ovulation promotes the normal growth of chicken to grow, and increases egg production.Reasonably illumination energy induction of ovulation, increases egg production.Illumination is larger on the egg laying performance impact of chicken, and reasonably illumination can promote the normal growth of chicken to grow, and induction of ovulation, increases egg production.Finishing period intensity of illumination is 5 luxs, and laying hen and kind chicken intensity of illumination can remain on 10 luxs, and batterylaying illumination should improve.The control principle of light application time is chick nurturing period shortening illumination in producing, and between laying period, increases illumination.Therefore, hen house humiture, air-flow and illuminance produce material impact to the production of chicken.
Gold was washed once and was different from the problems such as external environment for totally enclosed Laying House design feature and the indoor environment factor, design closed Laying House environmental control system, can realize temperature, humidity, illuminance, carbon dioxide, ammonia and sulfuretted hydrogen in hen house according to setting value auto-control; Liu Huanping is from the actual demand of closed Laying House, design closed Laying House long distance control system, and set forth closed Laying House environmental control system hardware circuit and program design design, comprise and utilize GSM module TC35i to carry out method and the program circuit of remote measurement and control communication in conjunction with STC12C5A60AD single-chip microcomputer.Li Lihua designs the hen house humiture real-time monitoring system based on wireless sensor network, this system simultaneously temperature to difference in hen house, humidity is carried out Real-Time Monitoring, and send the data to remote monitoring center, can realize long-range, the Measurement accuracy of hen house humiture.The exploitation of these systems effectively promotes the fast development of poultry husbandry, but these control system all do not have in conjunction with features such as hen house microclimate environment multivariate, non-linear, strong coupling and large inertia, the problem such as fundamentally solve that hen house microclimate environment parameter is unstable, control accuracy is low and system response time is slow.
Summary of the invention
The object of this invention is to provide a kind of hen house microclimate environment intelligent control system, the present invention, by the feature to existing hen house cultivation microclimate environment parameter multivariate, non-linear, strong coupling and large inertia, has designed a kind of based on wireless sensor network hen house microclimate environment intelligent control system.
The present invention is achieved through the following technical solutions:
This system is made up of hen house microclimate environment parameter acquisition and the expert system of controlling the hen house microclimate breeding environment cascade control system of platform, PID neural network based on DRNN and the setting based on economic optimum reasoning and controlled hen house microclimate environment parameter ideal value.
1) data acquisition of hen house microclimate environment and control platform: the detection node, control node and the on-site supervision end composition that comprise environment of chicken house parameter, can be by the interconnected measurement and control network that is built into of wireless sensor network in hen house cultivation site by them, the parameters such as temperature, humidity, air-flow and the illuminance of realization to hen house breeding environment detect and control.(see figure 1)
2), according to the feature of hen house cultivation microclimate environment nonlinearity in parameters, strong coupling and large inertia, monitoring client and the hen house microclimate breeding environment cascade control system of controlling the PID neural network of design based on DRNN in node improve stability, the precision of microclimate environment control system and are controlled the response speed of parameter at the scene.(see figure 2)
The hen house microclimate breeding environment cascade control system of the PID neural network of design based on DRNN realizes carries out decoupling zero control to scale hen house cultivation microclimate environment parameter; According to the different growth phases of chicken, the control desired value Scientific Establishment of the Implementation of Expert System that hen house microclimate environment parameter ideal value is controlled in the setting of design based on economic optimum reasoning to hen house microclimate environment parameter.This control system is by being controlled humiture, air-flow and illuminance parameter PID regulator, the expert system of being controlled hen house microclimate environment parameter ideal value by DRNN neural network identifier, neural network decoupling controller and the setting based on economic optimum reasoning of control parameter forms, wherein monitoring client designs PID regulator, DRNN neural network identifier, neural network decoupling controller and expert system at the scene, at 4 PI secondary controllers controlling node realization control hen house microclimate environment parameter.Humiture, air-flow and the illuminance of hen house microclimate environment is master variable, and the voltage of well heater, rotating speed, the rotating speed of blower fan and the voltage of light compensating lamp of wet curtain motor are secondary control variable.4 of hen house microclimate environments are controlled 4 PID regulators of parameter and the PREDICTIVE CONTROL of the DRNN neural network identification model realization of 4 parameters to them, by being controlled to the identification of parameter and the error of given ideal value, quilt adjusts in time the output of PID, solve by the non-linear of control object and large time delay problem, neural network decoupling controller is realized the decoupling zero control to hen house microclimate environment parameter, solve 4 coupled problems of being controlled between parameter, improve control accuracy and the response speed of system; Neural network decoupling controller export to that 4 PI secondary controllers of interior ring control the influential row of hen house microclimate environment parameter mechanism.
4 PID regulators based on DRNN and the main regulation loop of neural network decoupling controller are the multivariates for hen house microclimate environment parameter, nonlinear characteristic, the feature of strong coupling and hysteresis quality, 4 PID based on DRNN and the neural network decoupling controller with adaptive ability are applied to hen house microclimate environment parameter humiture, the control of air-flow and illuminance, the method is utilized the identification model output of DRNN neural network real-time online parameter and the error optimize PID master selector parameter of ideal occlusion definite value, for solving hen house microclimate environment parameter due to non-linear serious, strong coupling and hysteresis quality and cause controlling difficult problem and there is stronger pin time property, this system flexibility of the results show is strong, good stability, response speed and control accuracy meet the requirement of control system.In the time of the humiture of controlled hen house microclimate environment, air-flow and illuminance parameter drift-out default value, main regulation loop PID, neural network decoupling controller and DRNN identification model are carried out computing, its output regulates the set-point in PI loop as the pair of 4 topworkies, the secondary controller PI that follows corresponding mechanism carries out computing, by changing the state of corresponding topworks, the parameter of being controlled of hen house microclimate environment is changed, until till approaching the set-point of hen house microclimate environment parameter.4 PID master selectors based on DRNN and the effect of neural network decoupling controller are the set-points of adjusting in time 4 PI secondary controllers of topworks, the effect of the tandem control being made up of master selector and secondary controller is rotating speed, the rotating speed of blower fan and the voltage of light compensating lamp stable of the voltage of guaranteeing well heater, wet curtain motor, improves response speed and the control accuracy of system.
The present invention is on the basis of tandem control, hen house microclimate environment parameter adopts 4 PID regulators based on DRNN and neural network decoupling controller hen house microclimate environment parameter is controlled, this control method guarantees that hen house microclimate environment parameter stability is near set-point, this control algolithm can be given full play to the advantage of PID, decoupling zero control, tandem control and PREDICTIVE CONTROL, and this control method is antijamming capability or compares and be all greatly improved with traditional cascade PID control and conventional ANN (Artificial Neural Network) Control aspect robustness.The hen house microclimate breeding environment cascade control system of the PID neural network based on DRNN, improve the control quality of hen house microclimate environment parameter, improve system response time, stablized hen house microclimate environment temperature, humidity, air-flow and illuminance, suppressed the impact of many factors on hen house microclimate environment parameter.(seeing part under Fig. 2)
3) expert system of hen house microclimate environment parameter ideal value is controlled in the setting based on economic optimum reasoning: the Implementation of Expert System that monitoring client designs based on economic optimum reasoning is at the scene carried out Scientific Establishment to the control target of hen house microclimate environment humiture, air-flow and illuminance parameter.This system based on microclimate environment humiture, air-flow and illuminance parameter control cost, the growth model of chicken, material anharmonic ratio and growth phase, Economic Benefit Model form the expert system of setting hen house microclimate environment ideal parameters, this system can be determined according to hen house microclimate environment humiture, air-flow and illuminance parameter regulation and control cost, growth model, material anharmonic ratio and growth phase science the ideal parameters value of hen house microclimate environment humiture, air-flow and illuminance in different growth phase broiler chicken or laying hen growth, improves poultry benefit.Only effectively overcome and set not the setting value of hen house microclimate environment parameter in the same time with poultry operating personnel experience, improve utilization factor and the fanning economics of feed.(seeing part on Fig. 2)
The present invention compared with prior art, has following obvious advantage:
1, the present invention adopts the hen house microclimate breeding environment cascade control system of the PID neural network based on DRNN, and the PI secondary controller of 4 topworkies is according to hen house microclimate environment humiture, the master selector of air-flow and illuminance parameter exports to adjust the servomechanism of hen house microclimate environment topworks state, 4 secondary controller loops as far as possible in controlled process to hen house microclimate environment humiture, the impact of air-flow and illuminance parameter changes violent, frequently, the main disturbance that amplitude is large is included in secondary controller loop, and these secondary controller loops are on being included in the voltage that wherein affects well heater, the motor speed of wet curtain, the Secondary Disturbance of the voltage of rotation speed of fan and light compensating lamp has very strong inhibition ability and adaptive ability, and Secondary Disturbance is by main, the adjusting in secondary controller loop is to main controlled volume hen house microclimate environment humiture, the impact of air-flow and illuminance parameter is very little, so the output valve amplitude of variation of hen house microclimate environment parameter is little, stable, system can the requirement of fast speed response control system to hen house microclimate environment parameter.
2, the present invention is by hen house microclimate environment humiture, air-flow and illuminance parameter DRNN neural network identifier model are estimated hen house microclimate environment parameter, error by this discreet value and hen house microclimate environment parameter set-point is constantly revised microclimate environment humiture, the output of 4 PID regulators of air-flow and illuminance parameter, exporting to 4 PI secondary controllers by neural network decoupling controller makes the actual value of hen house microclimate environment parameter close to predetermined setting value at any time, this control system does not allow controlled variable hen house microclimate environment humiture, there is deviation and accurately keep regulated variable to meet production requirement in air-flow and illuminance parameter, when hen house microclimate environment parameter generation disturbance, just can fast hen house microclimate environment parameter be adjusted on needed numerical value.What this control system was implemented error is prediction closed-loop control, can adapt to many disturbance factor impacts, has good robustness.
3, hen house microclimate environment humiture of the present invention, air-flow and illuminance parameter are under the acting in conjunction of the feedback forecasting cascade control system being made up of PID regulator, neural network decoupling controller and neural network identifier model, PI secondary controller, the stability of hen house microclimate environment humiture, air-flow and illuminance parameter is greatly improved, the hysteresis quality of this control system to hen house microclimate environment parameter and the control of strong coupling object have very strong robustness, and control system is good to the tracking characteristics of set-point.Control quality, response speed and the stability of this control system all obviously improve compared with original conventional control, the control accuracy of hen house microclimate environment parameter is high, antijamming capability strong and the stability of parameter is good, has good application and promotional value.
4, the present invention is according to decoupling principle and neural network thought, a kind of self-adaptive PID of two-stage series connection structure being proposed through network decoupling controller. prime is the PID neural network decoupling controller based on DRNN, rear class PI secondary controller, the decoupling controller proposing has good robustness and adaptive decoupling ability, be a kind of simple and effective control algolithm that solves multivariate, non-linear and strong coupling problem, improve dynamic perfromance and the decoupling ability of multivariate, strong coupling and the hysteresis quality system of hen house microclimate environment humiture, air-flow and illuminance parameter.
5, the present invention adopts the ideal value of hen house microclimate environment humiture, air-flow and the illuminance parameter of expert system to breeding process to carry out science setting, improved arrange in breeding process chicken at different growth phases the science to microclimate environment humiture, air-flow and illuminance parameter demand, improve the returns and efficiency of cultivation, realized scientific culture and efficient cultivation.
6, the present invention combines PID control, neural network, PREDICTIVE CONTROL, decoupling zero control, tandem control and expert system, the hen house microclimate breeding environment cascade control system of the PID neural network of design based on DRNN.This control system has overcome the shortcoming a little less than simple PID controls, anti-interference poor to the large delay object of large inertia regulation quality, and hen house microclimate environment parameter neural network identifier model has compensated the limitation of Classical forecast control based on linear model effectively.This control system is had to stronger performance of dynamic tracking and antijamming capability and good dynamic and static state performance index for the control of hen house microclimate environment humiture, air-flow and illuminance parameter.
Brief description of the drawings
Fig. 1 is hen house microclimate environment detecting and control of parameter system construction drawing of the present invention;
Fig. 2 is the hen house microclimate breeding environment cascade control system structural drawing that the present invention is based on the PID neural network of DRNN;
Fig. 3 is DRNN neural network structure of the present invention and approaches structure;
Fig. 4 is detecting unit data acquisition software workflow diagram of the present invention;
Fig. 5 is on-site supervision end software architecture diagram of the present invention;
Fig. 6 is control system plane arrangement structure figure of the present invention.
Embodiment
(1) detection node design
Detecting unit is made up of humiture, illuminance and pneumatic sensor, filtering circuit, signal conditioning circuit, the nRF2401 module of communicating by letter and MSP430 single-chip microcomputer.Employing humiture digital sensor SHT11 gathers hen house microclimate environment humiture and sends into the A/D conversion input circuit of single-chip microcomputer, radio communication adopts nRF2401 module being built the information interaction of radio fest and control network realization with on-site supervision end by observing and controlling hen house by self-organization form, and system adopts nRF2401 module to connect the RS232 Interface realization on-site supervision end of computing machine and communicating by letter of hen house microclimate environment measuring and controlling node.Detection node structure (as shown in Figure 1), detection node realizes the detection to hen house microclimate environment parameter humiture, illuminance and air-flow, software communication flow process (Fig. 4).
(2) control design of node
Control node and isolate output driving circuit, MSP430 single-chip microcomputer, 4 PI secondary controllers and the nRF2401 module composition of communicating by letter by photoelectricity, by the nRF2401 module of detection node communication nRF2401 module, control node communication nRF2401 module, on-site supervision end, realize communicating by letter of on-site supervision end and detection node and control node, control system structure and control node structure (as shown in Figure 1).In this node, realize the control to well heater, blower fan, wet curtain and light filling equipment according to the PI secondary controller that need to design 4 loops of controlling external unit, the wherein output of the input Connection Neural Network decoupling zero master selector of PI, thereby many cascade control systems (as shown in Fig. 2 the latter half) of formation major-minor regulator.
(3) on-site supervision end
The hen house microclimate environment humiture, air-flow and the illuminance parameter that gather from detection node are read in on-site supervision end timing from serial ports, it to the microclimate environment data of check point can show in real time, curve shows, data storage and historical query (as shown in Figure 5).Monitoring client design humiture at the scene, control+neural network decoupling of the PID1-4 that air-flow and illuminance are controlled parameter controller+correspondence is controlled the master selector (as shown in Fig. 2 the latter half) of the neural network identifier NN1-NN4 formation hen house microclimate environment of parameter, this correspondence is controlled the neural network identifier NN of parameter and its PID controller is realized the PREDICTIVE CONTROL to hen house microclimate environment parameter, can effectively regulate non-linear due to hen house microclimate environment environment temperature, the control accuracy that large time delay and time variation etc. cause is low, the problem of low-response and poor stability.In order to solve the strong coupling problem between them, the neural network decoupling controller of connecting after PID regulator is realized the decoupling zero control between hen house microclimate environment, improves hen house microclimate environment control accuracy and response speed.Improve hen house culture benefit and efficiency, avoid artificially arranging the actual state that hen house microclimate environment parameter causes culture benefit and inefficiency, according to the different growth phases of chicken and the needs of culture benefit to microclimate environment humiture, air-flow and illuminance parameter, the science setting (as Fig. 2 the first half as shown in) of the Implementation of Expert System of design based on economic optimum reasoning to hen house microclimate environment humiture, air-flow and illuminance parameter.Wherein:
I, the design of PID controller
Adopt Position Form PID controller, establish
be respectively the specified rate of t moment hen house microclimate environment parameter,
the output actual value that is respectively t moment hen house microclimate environment parameter, the departure of corresponding parameter is:
（1）
If the sampling period is T, corresponding controller is output as:
（2）
Three coefficients of PID controller
,
with
adopt corresponding parameter identification neural network DRNN to adjust.
If the evaluation function of being controlled microclimate environment parameter corresponding is:
（3）
The index variation amount of PID controller is respectively:
In formula
the sensitivity function that represents to be controlled the actual output of the hen house microclimate environment factor and export corresponding to PID controller, the neural network DRNN that it can be controlled parameter by corresponding hen house carries out identifier and obtains.
II, DRNN neural network identifier
DRNN diagonal regression neural network (diagonal recurrent neural network) is a kind of dynamic regression neural network with feedback, this network can more directly vivo reflect by identification hen house microclimate environment dynamic state of parameters variation performance, and have the ability that adapts to time-varying characteristics.Fig. 4 adopts the 3 layer network structures of 3-7-1 for the neural network DRNN1-4 of the hen house microclimate environment PID controller parameter of adjusting, its hidden layer is for returning layer.
In the DRNN neural network of design identification hen house microclimate environment humiture, air-flow and illuminance parameter, establish
for network input vector, wherein
for the input in network i neuron t moment of input layer of hen house microclimate environment parameter identification, if the input of parameter identification network is got
, return j neuronic being output as of layer
,
be j recurrent nerve unit input summation,
for the function of S,
for the output of DRNN network.The output layer of the hen house microclimate environment parameter of this network identification is output as:
（4）
The recurrence layer of the hen house microclimate environment parameter of this network identification is output as:
（5）
Being input as of the recurrence layer of the hen house microclimate environment parameter of this network identification:
（6）
The approximate error of the hen house microclimate environment parameter of this network identification is:
（7）
The identifying index of this hen house microclimate environment parameter of this network identification is got:
（8）
If this identification network obtains the desired output of this hen house microclimate environment humiture, air-flow and illuminance parameter, this identification network learning algorithm finishes; Otherwise this identification network goes to backpropagation, the error signal of this hen house microclimate environment parameter is pressed to connecting path backwards calculation, adjust each layer of neuronic weights and bias of this identification network by gradient descent method, the parameter error of this network identification is reduced.The learning algorithm of the identification network of hen house microclimate environment humiture, air-flow and illuminance parameter adopts gradient descent method, and wherein, the recurrence layer of this identification network to the gradient descent method learning algorithm of output layer connection weight is:
（9）
The input layer of this identification network to the gradient descent method learning algorithm that returns layer connection weight is:
（10）
The gradient descent method learning algorithm of the recurrence layer connection weight of this identification network is:
（11）
If the recurrence layer neuron of identification network got two S functions:
（12）
And get approx
, parameter in this identification network
with
value be:
（13）
In formula
,
with
be respectively the learning rate of input layer, recurrence layer and output layer,
for inertial coefficient.The Jacobian information of this hen house microclimate environment humiture, air-flow and the illuminance parameter of this network identification is:
（14）
III, neural network decoupling
The neural network decoupling controller architecture of the hen house microclimate environment factor as shown in Figure 2, wherein
with
represent respectively by the desired output of control environment of chicken house parameter and reality output, controlled the quadratic sum minimum of environment of chicken house factor desired output and the actual difference of exporting as the evaluation function of this control system performance, that is:
（15）
Evaluation function E (t) is the function of decoupling zero neural network weight coefficient as can be seen from above, can make E (t) minimum by the connection weight of online adjustment and self study decoupling zero neural network, realize the object of environment of chicken house factor Multivariable Decoupling Control, improve the control performance of the environment of chicken house factor.According to gradient descent method, decoupling zero nerve network controller link weight coefficients in the iterative formula in t+1 moment is:
（16）
In formula
for the learning rate of decoupling zero control network connection weight, wherein
,
represent j the input of hen house microclimate environment because of sub-control system
while acting on by control object with respect to output
rate of change, it has represented the influence degree of j input to i the Dynamic Coupling of exporting, this is by the Dynamic Coupling characteristic of control system.According to neural network, to being controlled the identification of hen house, available following formula calculates the Dynamic Coupling characteristic of this system, that is:
, in formula
for sign function.
IV, Expert System Design
This expert system is mainly set hen house microclimate environment humiture according to Economic Benefit Model, the ideal parameters value of air-flow and illuminance parameter, main basis: microclimate environment humiture, the cost model of air-flow and the control of illuminance parameter, chicken growth model, the parameters such as different microclimate environmental parameter blanking anharmonic ratio and chicken growth phase, obtain the economic optimum micro-climate parameter of current period chicken growth by the Economic Benefit Model of output/consumption, set hen house microclimate environment humiture by the reasoning of expert system, air-flow and illuminance parameter control system desired value, this value is as the setting value of control system.This management software has selected Microsoft Visual++ 6.0 as developing instrument, and the reasoning process of expert system is shown in the first half of Fig. 2.
(4) design example of hen house microclimate environment parameter control system
According to the relative position of hen house, system layout detection node and control node, on-site supervision end, whole system floor plan is shown in Fig. 6.
The disclosed technological means of the present invention program is not limited only to the disclosed technological means of above-mentioned embodiment, also comprises the technical scheme being made up of above technical characterictic combination in any.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications are also considered as protection scope of the present invention.
Claims (1)
1. one kind based on wireless sensor network hen house microclimate environment intelligent control system, it is characterized in that: it is characterized in that: described system is made up of hen house microclimate environment parameter acquisition and expert system three parts of controlling the hen house microclimate breeding environment cascade control system of platform, PID neural network based on DRNN and the setting based on economic optimum reasoning and controlled hen house microclimate environment parameter ideal value, wherein:
1) hen house microclimate environment parameter acquisition and control platform: the detection node, control node and the on-site supervision end composition that comprise hen house microclimate environment parameter, they are built into measurement and control network by wireless sensor network and realize the information interaction between them, detection node be responsible for detecting hen house microclimate environment scene humiture, illuminance and air-flow actual value and be uploaded to on-site supervision end by wireless sensor network;
2) the hen house microclimate breeding environment cascade control system of the PID neural network based on DRNN: this system is by being controlled parameters of temperature, humidity, the master selector of 4 PID regulators of illuminance and air-flow and neural network decoupling controller composition, controlled parameters of temperature, humidity, 4 DRNN neural network identifiers of illuminance and air-flow and controlled parameters of temperature, humidity, 4 PI secondary controller compositions of illuminance and air-flow, controlled the master selector of parameter and the hen house microclimate environment parameter control system of 4 PI secondary controller composed cascades of quilt control parameter, the temperature of hen house microclimate environment, humidity, air-flow and illuminance are master variable, the voltage of well heater, wet curtain motor speed, rotation speed of fan, the voltage of light compensating lamp is secondary control variable, the error that the output of 4 DRNN neural network identifiers by controlled parameter and hen house microclimate environment are controlled the given controlled quentity controlled variable of parameter regulates the output of 4 PID regulators, the input of exporting to neural network decoupling controller of 4 PID regulators, 4 PI secondary controllers of parameter are controlled in exporting to of neural network decoupling controller, and the actual value that this intelligent control system makes to be controlled hen house microclimate environment and controlled parameter is followed the tracks of rapidly hen house microclimate environment and controlled the ideal occlusion definite value of parameter,
3) expert system of hen house microclimate environment parameter ideal value is controlled in the setting based on economic optimum reasoning: this Implementation of Expert System is to being controlled hen house microclimate environment temperature, humidity, the control ideal value of illuminance and air-flow is carried out Scientific Establishment, by being controlled controlling cost of parameter based on hen house microclimate environment, the growth model of chicken, material anharmonic ratio and growth phase, Economic Benefit Model forms sets the desirable expert system of being controlled parameter of hen house microclimate environment, system is controlled parameter regulation and control cost according to hen house microclimate environment, the growth model of chicken, material anharmonic ratio and growth phase science are determined the desirable microclimate environment temperature in different growth phase chicken growth needs, humidity, air-flow and illuminance.
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