CN107272754A - A kind of liquid manure accurate proportioning control system based on fuzzy - Google Patents
A kind of liquid manure accurate proportioning control system based on fuzzy Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D11/00—Control of flow ratio
- G05D11/02—Controlling ratio of two or more flows of fluid or fluent material
- G05D11/13—Controlling ratio of two or more flows of fluid or fluent material characterised by the use of electric means
- G05D11/135—Controlling ratio of two or more flows of fluid or fluent material characterised by the use of electric means by sensing at least one property of the mixture
- G05D11/138—Controlling ratio of two or more flows of fluid or fluent material characterised by the use of electric means by sensing at least one property of the mixture by sensing the concentration of the mixture, e.g. measuring pH value
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Abstract
A kind of liquid manure accurate proportioning control system based on fuzzy, including supply channel, fertilizer supplying pipeline and liquid manure mixed pipe line, supply channel, motor-driven valve and flowmeter are provided with liquid manure mixed pipe line, water flow switch and variable frequency pump are provided with fertilizer supplying pipeline, the entrance of the outlet of supply channel and the outlet of fertilizer supplying pipeline with liquid manure mixed pipe line is connected, motor-driven valve, flowmeter, water flow switch and variable frequency pump are all connected with controller, when progress water-fertilizer integral, which is irrigated, determines concentration fertilising, open corresponding motor-driven valve and water flow switch, by controlling variable frequency pump to draw solution, real-time concentration is drawn with reference to flowmeter, control process fusion fuzzy PID control method, which constantly corrects current fertilizer-sucting quantity, makes it with setting fertilising concentration error to reach minimum, the system passes through fuzzy PID control method, combining with wireless sensor network technology, embedded technology, intelligent control technology, the technologies such as electrotechnical, electronic, the irrigation at regular time and quantity catchmented, solution determine concentration fertilising and quantitative fertilization function in one.
Description
Technical field
The invention belongs to reading intelligent agriculture technical field, more particularly to a kind of liquid manure accurate proportioning control based on fuzzy
System.
Background technology
In recent years, the construction of China's industrialized agriculture has obtained the achievement attracted people's attention, achieves good economic and society
Benefit.But conventional management models are still used at present, and production process relies on artificial experience and the big workload of long-time of peasant
Field work.Liquid manure usage amount particularly in greenhouse substantially exceeds many times of demand, causes greenhouse to reduce, even if
Part modernization glasshouse is equipped with water-fertilizer integral equipment but because it is generally import equipment, and complex operation is run into
The reasons such as this height, cause instream factor not high.Though the water and fertilizer management of industrialized agriculture has been carried out certain automatic improving,
Based on being still affixed by with artificial control, liquid manure Overdosing problems are very serious, cause water resource waste, and environmental resource deteriorates.Therefore, water
Fertile integration irrigation management technology is the science and technology that modern reading intelligent agriculture is urgently promoted.
Existing water-fertilizer integral irrigation system is generally divided into two major classes, and a class is high complexity, high integration and height
The irrigation management system of cost；It is another kind of, it is that precision is relatively low, automaticity is not high and to hydraulic demand during use
Higher liquid manure hybrid system.The limitations such as the complexity that first kind system is operated during itself cost height and use
Determine that it can not be promoted the use of on a large scale, and the precision of Equations of The Second Kind system is relatively low, automaticity is not high, agriculture actual
Significant benefit can not be brought to improve in production activity.
The content of the invention
In order to overcome the shortcoming of above-mentioned prior art, it is an object of the invention to provide a kind of liquid manure based on fuzzy
Accurate proportioning control system, the system by fuzzy PID control method, combining with wireless sensor network technology, embedded technology,
The technologies such as intelligent control technology, electrotechnical, electronic, develop it is a kind of catchment at regular time and quantity irrigate, solution determine concentration fertilising and
Quantitative fertilization function is in the low cost of one, automation, high-precision liquid manure proportioning control system.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of liquid manure accurate proportioning control system based on fuzzy, including supply channel, fertilizer supplying pipeline and liquid manure mixing
Pipeline, wherein, it is provided with supply channel on motor-driven valve 1 and flowmeter 1, fertilizer supplying pipeline and is provided with water flow switch 5 and change
Flowmeter 23 and motor-driven valve 24, the outlet of supply channel and the outlet of fertilizer supplying pipeline are provided with frequency pump 6, liquid manure mixed pipe line
Entrance with liquid manure mixed pipe line is connected, and the motor-driven valve 1, flowmeter 1, flowmeter 23, motor-driven valve 24, current are opened
Pass 5 and variable frequency pump 6 are all connected with controller, it is characterised in that：
When progress water-fertilizer integral, which is irrigated, determines concentration fertilising, motor-driven valve 1, motor-driven valve 24 and water flow switch are opened
5, by controlling variable frequency pump 6 to draw solution, real-time concentration is calculated with reference to flowmeter 1 and flowmeter 23, control process is melted
Conjunction fuzzy PID control method, which constantly corrects current fertilizer-sucting quantity, makes it with setting fertilising concentration error to reach minimum.
It is described fusion fuzzy PID control method be based on fuzzy controller realize, the fuzzy controller mainly by
The PID controller of Parameter adjustable and Fuzzy control system two large divisions composition, wherein：
The input e (t) of PID controller and output u (t) relation are
Wherein, KpRepresent proportionality coefficient；KiRepresent integral coefficient；KdRepresent differential coefficient；It is right that Fuzzy control system passes through
Kp、Ki、KdAmendment, the control of complete paired systems；
Fuzzy controller is used as input, K using error e and error rate e'p、Ki、KdAs output, when meeting different
Requirements of the e and e' at quarter to pid parameter Self-tuning System, wherein error e are presetting concentration r (t) and actual matched proportion density y (t)
Difference, error rate e' is the error difference and the ratio of error current in front and rear sampling period T.
Further, improved fuzzy controller is used further to improve the response of system or perform speed, it is described
The parameter that improved fuzzy controller is controlled is Kp、Ki、KdIncrement, i.e. △ Kp、△Ki、△Kd, it is described improved fuzzy
PID controller is using the rate of change e' of error e and error as input quantity, △ Kp、△Ki、△KdFor output quantity, their excursion
It is defined as the basic domain in fuzzy set：
E, e', △ Kp, △ Ki, △ Kd=(- 3, -2, -1,0,1,2,3)
Its fuzzy set is { negative big, in bearing, to bear small, zero, just small, center is honest }, be expressed as NB, NM, NS, ZE, PS,
PM, PB }.
Error e, error rate e', corrected parameter △ K are used as using trianglep、△Ki、△KdMembership function.
When only entering the irrigation of water-filling, motor-driven valve 1 and motor-driven valve 24 are opened by controller, and close water flow switch 5
With variable frequency pump 6, timing, the quantifying irrigation of water are completed, and combines the information realization that outside soil temperature-moisture sensor is gathered in real time
Full intellectualized, automation moisturizing is irrigated；
When the solution to having prepared concentration is timed or when quantitative fertilization, motor-driven valve 1 is closed, motor-driven valve is opened
24, variable frequency pump 6 is controlled according to demand, it is completed fertilising under conditions of preheating setting time or presetting dose
Function.
Compared with prior art, the beneficial effects of the invention are as follows：
1) a kind of liquid manure accurate proportioning control system based on fuzzy proposed by the present invention can effectively, accurately, stably
The variable fertilization realized in the Integration of Water into Fertilizer, method of the system by the way that fuzzy control is combined with PID control, greatly
It is big to improve liquid manure proportioning precision.
2) system breaks the thinking that conventional liquid manure device utilizes external water pressure indirect control fat absorption device, straight using immersible pump
The mode for inhaling fertilizer is connect, not only increasing the controlled range of liquid manure proportioning makes regulation more flexible and changeable, and reduces external water
Influence of the buckling to matched proportion density, improves distributing precision, eliminates outside constant-voltage equipment, greatly reduces the exploitation of system
Cost.
3) system operatio is simple, and input cost is relatively low, and can realize automatically control, remote control and feedback of the information
Etc. function, labour is saved, operating efficiency is improved.
Brief description of the drawings
Fig. 1 is present system structural representation.
Fig. 2 is control strategy structure principle chart of the present invention.
Fig. 3 is control variable membership function figure.
Fig. 4 is controller circuit structure schematic diagram of the present invention.
Embodiment
Describe embodiments of the present invention in detail with reference to the accompanying drawings and examples.
A kind of foundation of liquid manure accurate proportioning control system based on fuzzy of the present invention and application process are as follows：
1 System Working Principle introduction
The operation principle of the system is introduced with reference to Fig. 1.When only entering the irrigation of water-filling, beaten by controller
Motor-driven valve 1 and motor-driven valve 4 are driven, and closes the timing, quantitative of water can be completed under water flow switch 5 and variable frequency pump 6, the functional mode
Irrigate, it is possible to which the information realization that is gathered in real time with reference to outside soil temperature-moisture sensor is full intellectualized, automation moisturizing
Irrigate.When progress water-fertilizer integral, which is irrigated, determines concentration fertilising, motor-driven valve 1 and motor-driven valve 4 and water flow switch 5 are opened, is passed through
Control variable frequency pump 6 to draw solution, real-time concentration, control process fusion fuzzy are calculated with reference to flowmeter 2 and flowmeter 3
Control method, which constantly corrects current fertilizer-sucting quantity, makes it with setting fertilising concentration error to reach minimum.When the solution to having prepared concentration
It is timed or when quantitative fertilization, closes motor-driven valve 1, opens motor-driven valve 4, come to be controlled variable frequency pump 6 according to demand,
It is set to complete fertilizing functions under conditions of preheating setting time or presetting dose.
2 liquid manure burden control strategies are introduced
The fuzzy PID control method of the system is introduced with reference to Fig. 2.
2.1PID control principle
PID controller be it is a kind of by the ratio of deviation, differential and integration by linear combination, realize controlled quentity controlled variable to controlled pair
System as being controlled.
The input e (t) of PID controller and output u (t) relation are
Its discrete expression form is
Wherein, KpRepresent proportionality coefficient；KiRepresent integral coefficient；KdRepresent differential coefficient；T is the sampling period；K is sampling
Sequence number.PID controller has the advantages that simple in construction, good stability and reliable operation.In face of it is non-linear, with larger time-varying
System when, three big parameter K of its controllerp、Ki、KdIt is difficult to adjust, and one group of setting parameter controls need far from satisfaction
Will.Therefore, conventional PID controllers have sizable limitation, it is necessary to which introducing a set of new algorithm is improved.
2.2 Design of Fuzzy PID Controller
The principle of fuzzy control is that the system input parameter that will be measured carries out Fuzzy processing by certain rule, is obscured
Measure and be input to fuzzy inference system, by fuzzy reasoning and decision-making, the fuzzy output amount of system is obtained, finally by fuzzy output
Amount carries out de-fuzzy processing, obtains the accurate output quantity of system, is applied to control object.
Fuzzy controller is mainly made up of the PID controller of Parameter adjustable and Fuzzy control system two large divisions.It is fuzzy
Control system passes through the amendment of 3 adjustable parameters to PID, the control of complete paired systems.Control principle is as shown in Figure 2.Mould
Paste PID controller is used as input, pid parameter K using error e and error rate e'p、Ki、KdIt is used as output.With error e and error
Rate of change e' can meet the requirement of e and e' to pid parameter Self-tuning System not in the same time as input.Wherein r (t) is default
Determine matched proportion density value, y (t) is by the actual matched proportion density that actual concentrations value is that two flowmeters are calculated, and error e is r (t)
With y (t) differences, as presetting concentration and the difference of actual matched proportion density, error rate e' is the front and rear sampling period
The ratio of error difference and error current, the sampling period, T was set as 5s.Output signal u (t) is joined by fuzzy controller
The controlled quentity controlled variable carried out after number adjustment to controlled device, controlled device is to inhale fertile pump.Fertile pumping fertilizer is inhaled in the control of this controlled quentity controlled variable
Essence be the operating power for adjusting PWM and then controlling pump, the size of power depends on PWM dutycycle, and dutycycle be by
The controlled quentity controlled variable of fuzzy controller output is adjusted.
In order to further improve the response of system or perform speed, using improved fuzzy controller.Controller was originally controlled
System is Kp、Ki、KdThis 3 parameters, and that control now is Kp、Ki、KdIncrement, i.e. △ Kp、△Ki、△Kd.This 3 increments
Change it is smaller, it is necessary to calculating significantly reduce.There is a retaine after fuzzy controller, reservation is last Kp、
Ki、KdValue K'p、K'i、K'd, then plus the output valve of fuzzy controller, acting on control object.
I.e.
Kp=K'p+△Kp； (3)
Ki=K'i+△Ki； (4)
Kd=K'd+△Kd； (5)
Now fuzzy controller is changed into the rate of change e' using error e and error as input quantity, △ Kp、△Ki、△KdFor output
Amount.Their excursion is defined as the fuzzy domain in fuzzy set：
E, e', △ Kp, △ Ki, △ Kd=(- 3, -2, -1,0,1,2,3)
Its fuzzy set is { negative big, in bearing, to bear small, zero, just small, center is honest }, be expressed as NB, NM, NS, ZE, PS,
PM, PB }., need to be from the stability of a system, response speed, overshoot and stable state essence to make the control effect of system reach optimum state
Tri- parameter K of PID are considered in terms of degreep、Ki、KdControl action：KpEffect be to speed up the response speed of system, it is but excessive
KpSystem is easily set to produce overshoot or even unstable, too small KpThe response speed of system, which can be made, becomes slow, during increase regulation
Between, the static characteristic of system is deteriorated.KiEffect be elimination system steady-state error, but excessive KiSystem can be made in response
Integration saturated phenomenon is produced initial stage so that producing larger overshoot, too small KiThe steady-state error of system can be increased.KdEffect be
The dynamic characteristic of improvement system, is forecast in advance to change of error, but excessive KdResponse process can be made to brake in advance, increased
Regulating time, reduces the noiseproof feature of system.According to influence characteristic of the pid parameter to control effect, mould as shown in table 1 is formulated
Paste inference rule table.
The △ K of table 1p、△Ki、△KdFuzzy inference rule table
Basic domain refers to the scope of the actual change of variable, after basic domain obfuscation corresponding domain be only fuzzy domain it
Between have following relation：
The system error e and the basic domains of error rate e' choose [- 0.03,0.03], the i.e. scope of concentration deviation
For -3%~3%, quantizing factor is 100；Export △ KpBasic domain be [- 12,12], scale factor is 4；Export △ Ki's
Basic domain is [- 0.008,0.008], and scale factor is 0.008/3；Export △ KdBasic domain be [- 150,150], than
The example factor is 50.
The features such as triangular membership has simple shape, convenience of calculation and small committed memory.Therefore use triangle to make
For error e, error rate e', corrected parameter △ Kp、△Ki、△KdMembership function.As shown in Figure 3.The system is using weight
Heart method carries out defuzzification.By obtained fuzzy control rule, can must be according to the error e of system-computed and error rate e'
The output quantity of system.The △ K of wherein firstpThe degree of membership of fuzzy control rule is tried to achieve by below equation：
△KpDifferent errors similar can also be obtained with the membership function under error rate.In a certain input quantity
Under, export △ KpValue be：
Wherein, μpj(△Kp) (j=1,2 ... 9) the corresponding △ K of degree of membership for being certain moment e and e'pVarious combinations be subordinate to
Category degree.Similar, △ Ki, △ KdDegree of membership can be obtained by identical process.Thus the output valve obtained is fuzzy quantity, is multiplied respectively
Just to draw the corrected parameter that can be applied to PID controller after respective scale factor.
3 circuit system hardware are introduced
The system circuit design of the present invention is introduced with realization with reference to Fig. 4.The controller part of system is selected
STC15F2K60S2 single-chip microcomputers build peripheral circuit as core processor according to functional requirement.Including for receiving and nursing one's health
The ADC modulate circuits for the temperature-humidity signal that the water-flow signal and soil temperature-moisture sensor of flowmeter output are returned, for controlling
The control relay circuit of electronic threshold switch is made, inhaling fertile pump can be controlled by single-chip processor i/o mouthful directly output PWM ripples,
And for realizing the serial communication circuit of man-machine interaction.Human-computer interaction module selects a industry control screen developed based on ARM, with
It is easy to the information such as display current operating state, concentration, and the operation such as model selection, parameter setting can be carried out.GPRS module is then
The function of remote control is realized, user can complete operation by way of short message receiving-transmitting.
4 systems are verified
In the case where closing water inlet valve, PWM regulation and control incrementally are carried out to variable frequency pump, until reaching it most
Untill big speed, gather flowmeter output signal simultaneously in PWM control process, thus draw PWM frequency with inhale fertile flow it
Between relation.In the case of normal water supply, by gathering flowmeter output signal come the flow of monitoring calculation water, according to water
The fertile flow of suction of fertile pump is inhaled in flow, in proportion control, now inhale the flow of water in fertile flow-rate ratio with inhale fertile flow and ratio
The calculated value of liquid manure matched proportion density as ideally.And rate of discharge is subtracted into inlet flow rate and can obtain fertilizer-sucting quantity, will
Fertilizer-sucting quantity can obtain actual liquid manure matched proportion density compared with exporting total flow.Constantly circulation inhales fertile flow to realize in this way
It is adapted with the flow of water, so as to reach the purpose of accurate proportioning control.The result is as shown in the table.
Test result indicates that：The system can accurately match out target liquid manure concentration according to preset concentration, with higher
Precision, preferably automatic adaptation fertile flow can ensure that liquid manure is matched somebody with somebody in the change of the inside and outside water-carrying capacity in a big way system
The accuracy of ratio, only error can gradually increase when external water stream amount becomes very little, reaches 5.0L/min or be smaller.
Claims (5)
1. a kind of liquid manure accurate proportioning control system based on fuzzy, including supply channel, fertilizer supplying pipeline and liquid manure mixing tube
Road, wherein, it is provided with supply channel on motor-driven valve one (1) and flowmeter one (2), fertilizer supplying pipeline and is provided with water flow switch (5)
With variable frequency pump (6), flowmeter two (3) and motor-driven valve two (4), the outlet of supply channel and fertilizer are provided with liquid manure mixed pipe line
Entrance of the outlet with liquid manure mixed pipe line of pipeline is connected, the motor-driven valve one (1), flowmeter one (2), flowmeter two (3),
Motor-driven valve two (4), water flow switch (5) and variable frequency pump (6) are all connected with controller, it is characterised in that：
When progress water-fertilizer integral, which is irrigated, determines concentration fertilising, motor-driven valve one (1), motor-driven valve two (4) and water flow switch are opened
(5), by controlling variable frequency pump (6) to draw solution, real-time concentration is calculated with reference to flowmeter one (2) and flowmeter two (3), is controlled
Process fusion fuzzy PID control method processed, which constantly corrects current fertilizer-sucting quantity, makes it with setting fertilising concentration error to reach minimum.
2. the liquid manure accurate proportioning control system based on fuzzy according to claim 1, it is characterised in that the fusion
Fuzzy PID control method realizes that the fuzzy controller is mainly by the PID control of Parameter adjustable based on fuzzy controller
Device and Fuzzy control system two large divisions composition, wherein：
The input e (t) of PID controller and output u (t) relation are
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Wherein, KpRepresent proportionality coefficient；KiRepresent integral coefficient；KdRepresent differential coefficient；Fuzzy control system passes through to Kp、Ki、
KdAmendment, the control of complete paired systems；
Fuzzy controller is used as input, K using error e and error rate e'p、Ki、KdAs output, meet not in the same time
Requirements of the e and e' to pid parameter Self-tuning System, wherein error e are the difference of presetting concentration r (t) and actual matched proportion density y (t),
Error rate e' is the error difference and the ratio of error current in front and rear sampling period T.
3. the liquid manure accurate proportioning control system based on fuzzy according to claim 2, it is characterised in that using improving
Fuzzy controller further to improve the response of system or perform speed, the improved fuzzy controller control
Parameter is Kp、Ki、KdIncrement, i.e. △ Kp、△Ki、△Kd, the improved fuzzy controller is with the change of error e and error
Rate e' is input quantity, △ Kp、△Ki、△KdFor output quantity, their excursion is defined as the basic domain in fuzzy set：
E, e', △ Kp, △ Ki, △ Kd=(- 3, -2, -1,0,1,2,3)
Its fuzzy set is { negative big, in bearing, to bear small, zero, just small, center is honest }, be expressed as NB, NM, NS, ZE, PS, PM,
PB}。
4. the liquid manure accurate proportioning control system based on fuzzy according to claim 3, it is characterised in that use triangle
Shape is used as error e, error rate e', corrected parameter △ Kp、△Ki、△KdMembership function.
5. the liquid manure accurate proportioning control system based on fuzzy according to claim 1, it is characterised in that when only carrying out
During the irrigation of water, motor-driven valve one (1) and motor-driven valve two (4) are opened by controller, and close water flow switch (5) and variable frequency pump
(6) timing, the quantifying irrigation of water, are completed, and combines the complete intelligence of information realization that outside soil temperature-moisture sensor is gathered in real time
Energyization, the moisturizing of automation are irrigated；
When the solution to having prepared concentration is timed or when quantitative fertilization, motor-driven valve one (1) is closed, motor-driven valve two is opened
(4), variable frequency pump (6) is controlled according to demand, makes it complete to apply under conditions of preheating setting time or presetting dose
Fertile function.
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| CN107544571A (en) * | 2017-10-31 | 2018-01-05 | 河北农业大学 | Fixed-point distributed fertilization control device and control method |
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| CN107544263A (en) * | 2017-10-31 | 2018-01-05 | 河北农业大学 | Water-fertilizer ratio regulation control system and method based on parameter self-tuning PID |
| CN107544571A (en) * | 2017-10-31 | 2018-01-05 | 河北农业大学 | Fixed-point distributed fertilization control device and control method |
| CN107544263B (en) * | 2017-10-31 | 2021-01-22 | 河北农业大学 | Water-fertilizer ratio regulation control system and method based on parameter self-tuning PID |
| CN110192516A (en) * | 2019-06-06 | 2019-09-03 | 湖南大学 | A kind of irrigation method, system and device |
| CN112083740A (en) * | 2020-09-02 | 2020-12-15 | 浙江工业大学 | Precise fertilizing amount control method based on fuzzy PID control |
| CN112083740B (en) * | 2020-09-02 | 2022-09-23 | 浙江工业大学 | Precise fertilizing amount control method based on fuzzy PID control |
| CN114916298A (en) * | 2022-03-15 | 2022-08-19 | 沈阳农业大学 | Variable broadcast sowing and fertilizing device and method for agricultural unmanned aerial vehicle |
| CN114916298B (en) * | 2022-03-15 | 2023-08-15 | 沈阳农业大学 | Variable broadcasting and fertilizing device and method for agricultural unmanned aerial vehicle |
| CN118068688A (en) * | 2024-04-22 | 2024-05-24 | 泰安市农业科学院(山东省农业科学院泰安市分院) | Water and fertilizer ratio control system and method based on PID algorithm |
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