CN107787938A - A kind of constant pressure variable control system of variable farm chemical applying machine - Google Patents
A kind of constant pressure variable control system of variable farm chemical applying machine Download PDFInfo
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- CN107787938A CN107787938A CN201610745976.0A CN201610745976A CN107787938A CN 107787938 A CN107787938 A CN 107787938A CN 201610745976 A CN201610745976 A CN 201610745976A CN 107787938 A CN107787938 A CN 107787938A
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- pressure
- variable
- control system
- formulation rate
- control
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Agricultural Chemicals And Associated Chemicals (AREA)
- Catching Or Destruction (AREA)
Abstract
A kind of constant pressure variable control system of variable farm chemical applying machine, no matter whether the speed of travel of pesticide applicator is constant, and system makes formulation rate be consistent substantially with setting formulation rate automatically；No matter formulation rate and dispenser breadth it is whether constant, system make automatically total pipeline inner liquid medicine pressure with according to formulation rate and breadth setting total pipeline inner liquid medicine pressure be consistent substantially, realize the open and close controlling of single nozzle.The control system is controlled using pid control law to decoction pressure, system response time 0.85s, and overshoot is no more than 8%, and steady-state error is ± 3%；Formulation rate is controlled using fuzzy control, system response time 1.04s, overshoot is no more than 6%, steady-state error 13%；System emulation reaches preferable effect, and the system can be used for carrying out constant-pressure variable control to pesticide applicator.
Description
Art
The present invention relates to a kind of constant pressure variable control system of variable farm chemical applying machine, suitable for mechanical field.
Background technology
Agent spraying machine is the important component of equipment for plant protection, for improve pesticide efficacy, reduce environmental pollution and
Agricultural production and income is promoted to provide important guarantee.Variable-flow dispenser control is carried out pesticide applicator according to speed, is advantageous to reality
The stabilization of existing formulation rate, but often cause the change of decoction pressure during variable-flow dispenser control, it have impact on the atomization matter of dispenser
Amount and pesticide supplying effect.Therefore, the dispenser control for carrying out constant-pressure variable is to improve an important measure of pesticide applicator operation quality.State
Inside points scholar is studied Spraying Control System, devises the variable farm chemical applying control system based on pressure and based on flow
System, but the dispenser control based on constant-pressure variable and control algolithm are introduced relatively fewer.
The content of the invention
The present invention proposes a kind of constant pressure variable control system of variable farm chemical applying machine, no matter the speed of travel of pesticide applicator whether
Constant, system makes formulation rate be consistent substantially with setting formulation rate automatically；No matter formulation rate and dispenser breadth it is whether constant, be
System is automatic to make total pipeline inner liquid medicine pressure with being consistent substantially according to the total pipeline inner liquid medicine pressure of formulation rate and breadth setting,
Realize the open and close controlling of single nozzle.
The technical solution adopted in the present invention is.
The control system hardware mainly includes power supply, keyboard, LCD is shown, electrical ball valve drives, electro-hydraulic proportional valve drives
The module such as dynamic, switch electromagnetic valve driving, A/D and D/A converter and Phototube Coupling.
The control system, as core processor, using speed as control signal, utilizes sensing using AT89S52 single board computer
The real-time picking rate of device, pressure and flow sensor signal, single-chip microcomputer is transmitted to by Phototube Coupling, A/D conversions, reality is calculated
Speed, decoction pressure and the formulation rate on border, and compared with setting decoction pressure and unit area formulation rate, calculate control
Amount, to control the opening and closing of the aperture of electrical ball valve and electro-hydraulic proportional valve and switch electromagnetic valve, reach decoction pressure and formulation rate is real
When the control mouth that adjusts.Using electro-hydraulic proportional valve, electrical ball valve and switch electromagnetic valve as executing agency, the medicine of difference control system
The opening and closing of hydraulic coupling, formulation rate and shower nozzle.
The decoction Stress control link mainly includes pressure reading, PID controller calculating and electro-hydraulic proportional valve control etc. 3
Part.
The beneficial effects of the invention are as follows：The control system is controlled using pid control law to decoction pressure, system response
Time is 0.85s, and overshoot is no more than 8%, and steady-state error is ± 3%；Formulation rate is controlled using fuzzy control, system
Response time is 1.04s, and overshoot is no more than 6%, steady-state error 13%；System emulation reaches preferable effect, and the system can
For carrying out constant-pressure variable control to pesticide applicator.
Brief description of the drawings
Fig. 1 is the dispenser system the general frame of the present invention.
Fig. 2 is the control system hardware architecture diagram of the present invention.
Fig. 3 is the pressure PID control model of the present invention.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, mentality of designing：First, change the aperture of electrical ball valve so that unit area formulation rate is sent out in locomotive speed
Kept during changing constant.Formulation rate and the flow in dispenser pipeline are proportional, using the stream of electrical ball valve control system
Amount, and then change systemic administration amount.Second, regulation electro-hydraulic proportional valve control voltage so that system manifold road decoction pressure keeps permanent
It is fixed.The outlet pressure of electro-hydraulic proportional valve is directly proportional to its control voltage, changes the control voltage of electro-hydraulic proportional valve, and then change system
The pressure of system house steward's decoction.Third, the opening and closing of controlling switch magnetic valve, realizes the control to shower nozzle.The open and close controlling of shower nozzle can be with
Meet pesticide applicator agronomy demand such as automatic stop-spraying and the different dispenser breadth of regulation in headland turn.
Such as Fig. 2, the control mouth mark of control system：No matter whether the speed of travel of pesticide applicator is constant, and system makes dispenser automatically
Amount is consistent substantially with setting formulation rate：No matter formulation rate and dispenser breadth it is whether constant, system makes medicine in total pipeline automatically
Hydraulic coupling realizes the opening and closing control of single nozzle with being consistent substantially according to the total pipeline inner liquid medicine pressure of formulation rate and breadth setting
System.
Control system hardware mainly includes power supply, keyboard, LCD is shown, electrical ball valve drives, electro-hydraulic proportional valve drives, is opened
Close the modules such as solenoid-driven, A/D and D/A converter and Phototube Coupling.
Control system, as core processor, using speed as control signal, utilizes sensor reality using AT89S52 single board computer
When picking rate, pressure and flow sensor signal, by Phototube Coupling, A/D conversion be transmitted to single-chip microcomputer, be calculated actual
Speed, decoction pressure and formulation rate, and compared with setting decoction pressure and unit area formulation rate, controlled quentity controlled variable is calculated, with
Electrical ball valve and the aperture of electro-hydraulic proportional valve and the opening and closing of switch electromagnetic valve are controlled, reaches decoction pressure and formulation rate is adjusted in real time
Control mouth.Using electro-hydraulic proportional valve, electrical ball valve and switch electromagnetic valve as executing agency, the decoction pressure of difference control system
The opening and closing of power, formulation rate and shower nozzle.
Such as Fig. 3, in design variable dispenser systematic procedure, the control of decoction pressure uses pid control law, the control of formulation rate
System uses fuzzy control.Decoction Stress control link mainly includes pressure reading, PID controller calculates and Electro-hydraulic Proportional Control
3 parts such as system.
Claims (3)
1. a kind of constant pressure variable control system of variable farm chemical applying machine, it is characterized in that：The control system hardware mainly include power supply,
Keyboard, LCD are shown, electrical ball valve drives, electro-hydraulic proportional valve drives, switch electromagnetic valve drives, A/D and D/A converter and photoelectricity
The modules such as isolation.
2. a kind of constant pressure variable control system of variable farm chemical applying machine according to claim 1, it is characterized in that：The control system
System using the SS 2 of single chip computer AT 89 is used as core processor, using speed as control signal, using the real-time picking rate of sensor,
Pressure and flow sensor signal, single-chip microcomputer is transmitted to by Phototube Coupling, A/D conversions, actual speed, decoction pressure is calculated
Power and formulation rate, and compared with setting decoction pressure and unit area formulation rate, controlled quentity controlled variable is calculated, to control electrical ball valve
With the aperture of electro-hydraulic proportional valve and the opening and closing of switch electromagnetic valve, reach decoction pressure and control mouth that formulation rate is adjusted in real time.
3. a kind of constant pressure variable control system of variable farm chemical applying machine according to claim 1, it is characterized in that：The decoction pressure
Power controlling unit mainly includes 3 parts such as pressure is read, PID controller calculates and electro-hydraulic proportional valve controls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610745976.0A CN107787938A (en) | 2016-08-29 | 2016-08-29 | A kind of constant pressure variable control system of variable farm chemical applying machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610745976.0A CN107787938A (en) | 2016-08-29 | 2016-08-29 | A kind of constant pressure variable control system of variable farm chemical applying machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107787938A true CN107787938A (en) | 2018-03-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610745976.0A Pending CN107787938A (en) | 2016-08-29 | 2016-08-29 | A kind of constant pressure variable control system of variable farm chemical applying machine |
Country Status (1)
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| CN (1) | CN107787938A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109362689A (en) * | 2018-12-12 | 2019-02-22 | 南京林业大学 | A kind of unmanned plane variable farm chemical applying control device and its hierarchical control method |
| CN111084173A (en) * | 2020-01-09 | 2020-05-01 | 中国农业大学 | Automatic spray head flow adjusting method for profiling variable pesticide applying system of spraying machine |
| CN111264504A (en) * | 2020-03-20 | 2020-06-12 | 河北信翔电子有限公司 | Intelligent spraying control method and system for cloud strategy pesticide spraying machine |
| CN111449040A (en) * | 2020-03-12 | 2020-07-28 | 清远市智慧农业研究院 | Minimum error variable pesticide application control method and system |
-
2016
- 2016-08-29 CN CN201610745976.0A patent/CN107787938A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109362689A (en) * | 2018-12-12 | 2019-02-22 | 南京林业大学 | A kind of unmanned plane variable farm chemical applying control device and its hierarchical control method |
| CN111084173A (en) * | 2020-01-09 | 2020-05-01 | 中国农业大学 | Automatic spray head flow adjusting method for profiling variable pesticide applying system of spraying machine |
| CN111449040A (en) * | 2020-03-12 | 2020-07-28 | 清远市智慧农业研究院 | Minimum error variable pesticide application control method and system |
| CN111449040B (en) * | 2020-03-12 | 2022-02-08 | 清远市智慧农业研究院 | Minimum error variable pesticide application control method and system |
| CN111264504A (en) * | 2020-03-20 | 2020-06-12 | 河北信翔电子有限公司 | Intelligent spraying control method and system for cloud strategy pesticide spraying machine |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180313 |