CN112949916A - Accurate variable irrigation and fertilization implementation method of circular sprinkler - Google Patents

Accurate variable irrigation and fertilization implementation method of circular sprinkler Download PDF

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CN112949916A
CN112949916A CN202110187920.9A CN202110187920A CN112949916A CN 112949916 A CN112949916 A CN 112949916A CN 202110187920 A CN202110187920 A CN 202110187920A CN 112949916 A CN112949916 A CN 112949916A
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严海军
王晶晶
卓越
李茂娜
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China Agricultural University
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Abstract

本发明公开了一种圆形喷灌机精准变量灌溉施肥实现方法。根据管理地块的灌溉施肥处方图，以圆形喷灌机中心支轴为中心，划分出若干组扇形喷洒区域。若扇形区域采用单一的灌溉施肥处方，则划分为大管理区，设置统一的圆形喷灌机百分率计时器设定值、注肥泵工作流量及喷头电磁阀占空比；若扇形区域由多个不同灌溉施肥处方构成，则分成若干小管理区，设置统一的百分率计时器设定值、注肥泵工作流量，各小管理区对应不同的电磁阀占空比。然后根据各管理区设计灌水深度减去喷洒水肥液深度后得到剩余的清水灌水深度，再确定喷洒清水的百分率计时器设定值及电磁阀占空比。本发明可实现应用圆形喷灌机对农田尺度管理地块的精准变量灌溉施肥。

Figure 202110187920

The invention discloses a method for realizing precise variable irrigation and fertilization of a circular sprinkler. According to the irrigation and fertilization prescription map of the management plot, several groups of fan-shaped spraying areas are divided with the central pivot of the circular sprinkler as the center. If the fan-shaped area adopts a single irrigation and fertilization prescription, it will be divided into large management areas, and set a unified circular sprinkler percentage timer setting value, the working flow of the fertilizer injection pump and the duty cycle of the sprinkler solenoid valve; if the fan-shaped area consists of multiple The composition of different irrigation and fertilization prescriptions is divided into several small management areas, and a unified percentage timer setting value and the working flow of the fertilizer injection pump are set. Each small management area corresponds to a different duty cycle of the solenoid valve. Then according to the design irrigation depth of each management area minus the depth of spraying water and fertilizer solution to obtain the remaining water irrigation depth, and then determine the percentage timer setting value of spraying water and the duty ratio of the solenoid valve. The invention can realize precise variable irrigation and fertilization of farmland scale management plots by using a circular sprinkler.

Figure 202110187920

Description

Accurate variable irrigation and fertilization implementation method of circular sprinkler
Technical Field
The invention belongs to the technical field of agricultural irrigation and fertilization, and particularly relates to a method for realizing accurate variable irrigation and fertilization of a circular sprinkler.
Background
The water and fertilizer integration technology is a new agricultural technology integrating irrigation and fertilization, can synchronously, uniformly, accurately, regularly and quantitatively supply crop water and nutrients, is also called as an agricultural 'one technology', and has an application area of more than 1.5 hundred million acres in China. The sprinkling irrigation water and fertilizer integration is an important component. The circular sprinkling machine has the advantages of high automation degree, large single machine control area, low operation cost, strong adaptability to different crops and soil textures and the like, can realize sprinkling water and fertilizer integrated operation, and has the popularization and application area of more than 900 ten thousand mu in China. At present, the circular sprinkler applies uniform irrigation and fertilization to the management plots, and the walking speed can be changed by adjusting the set value of the percentage timer, so that the irrigation depth and the fertilization amount are adjusted. However, when the physical characteristics of large-scale farmland soil or the growth vigor of crops are greatly different, if the traditional uniform irrigation and fertilization is still adopted, the local plots are excessively irrigated and fertilized or insufficiently, so that the uneven growth of the crops is caused, and the utilization efficiency of water and fertilizer is greatly reduced. Therefore, an electromagnetic valve is arranged in front of each spray head of the circular sprinkler, and the working time of each spray head in one period is changed by controlling the opening and closing time (namely the duty ratio of the electromagnetic valve), namely the average flow of the sprinkler irrigation is changed, so that the irrigation depth and the fertilizing amount are adjusted. Therefore, the accurate application of different irrigation and fertilization requirements in the management area can be realized by comprehensively considering two modes of changing the set value of the percentage timer of the circular sprinkler and the duty ratio of the spray head electromagnetic valve. In addition, the concentration of the fertilizer liquid injected into the sprinkler and the working flow of the fertilizer injection pump can be changed to carry out accurate regulation and control of variable irrigation and fertilization.
In conclusion, the realization of the variable irrigation and fertilization of the circular sprinkler needs to comprehensively consider various information such as irrigation depth, fertilizer type, fertilization amount, fertilizer solubility, unit size of the sprinkler, operation parameters, performance parameters of a fertilization device and the like. Therefore, a calculation method of the accurate variable irrigation and fertilization related parameters of the circular sprinkler is urgently needed to meet the differentiated requirements of specific areas in the management plot on irrigation and fertilization.
Disclosure of Invention
Aiming at the problems in the background art, the invention provides a method for realizing accurate variable irrigation and fertilization of a circular sprinkler, which is characterized by comprising the following steps:
step 1) dividing a plot into a plurality of large management areas and small management areas according to irrigation and fertilization demands in the whole management plot provided by an irrigation and fertilization prescription diagram, and calculating the area of each management area according to an angle and a radius;
step 2) dividing each large management area and each small management area into different irrigation and fertilization grades;
step 3) calculating the total fertilizing amount of the management plots according to the area and the fertilizing amount of each management area;
step 4) calculating the total volume of the prepared fertilizer and the concentration of the fertilizer mother liquor according to the selected fertilizer type and the corresponding fertilizer solubility;
step 5) taking a central fulcrum shaft of the circular sprinkler as a center, dividing a management plot into a plurality of fan-shaped spraying areas, and if a single irrigation and fertilization prescription is adopted in each fan-shaped spraying area, enabling the fan-shaped spraying area to be a large management area and entering 51; if different fertigation prescriptions are adopted in the sector spraying area, dividing a plurality of small management areas according to the fertigation prescriptions, and entering 52;
step 51) setting the irrigation depth of the sector spraying area and the duty ratio of a nozzle electromagnetic valve to obtain the set value of a percentage timer of the circular sprinkler and the working flow of a fertilizer injection pump;
step 52) setting the spray head solenoid valve duty ratio of the small management area with the largest fertilizing amount and the watering depth of the small management area with the smallest fertilizing amount in the fan-shaped spraying area, and obtaining the watering depth of the small management area with the largest fertilizing amount and the spray head solenoid valve duty ratio of the small management area with the smallest fertilizing amount; then, sequentially obtaining the irrigation depth and the duty ratio of the nozzle electromagnetic valve of other small management areas in the sector spraying area; finally, the set value of a percentage timer of the circular sprinkler in the sector spraying area and the working flow of the fertilizer injection pump are obtained;
and 6) subtracting the spraying water and fertilizer liquid depth from the designed water filling depth of each management area, and calculating to obtain the residual clear water filling depth to obtain the set value of the percentage timer of the circular sprinkler and the duty ratio of the electromagnetic valve of the sprinkler. Entering a sector spraying area consisting of a large management area 61; a fan-shaped spray area, consisting of a plurality of small managed areas, enters 62;
step 61) calculating the irrigation depth of the fan-shaped spraying area; obtaining the duty ratio of the electromagnetic valve of the spray head and the set value of the percentage timer of the circular sprinkler;
step 62) calculating the irrigation depth of each small management area of the sector spraying area; setting the duty ratio of the spray head electromagnetic valve of the small management area with the largest irrigation depth, and obtaining the duty ratios of the spray head electromagnetic valves of other small management areas; and finally, obtaining the set value of the percentage timer of the circular sprinkler in the sector spraying area.
The land parcel dividing mode is as follows: according to the irrigation and fertilization prescription information, a central fulcrum shaft of the circular sprinkler is taken as a center, a plurality of fan-shaped sprinkling areas with different angles are divided along the circumferential direction, and then the fan-shaped sprinkling areas are divided into different small management areas according to the difference of irrigation and fertilization amount and the number of groups of sprinklers of the circular sprinkler; if the irrigation quantity and the fertilizing quantity in a certain fan-shaped spraying area are not different, the fan-shaped spraying area is a large management area and is not divided into small management areas; the management plot is composed of all the large management areas and the small management areas.
In the step 3:
Fsum＝F1×Aa1+F2×Aa2+...+Fn×Aan
wherein, FsumFertilizing the total mass of the management plot; f1、F2…FnThe fertilizing amount per unit area is the fertilizing amount of the 1 st-n grade fertilizing grade; a. thea1、Aa2…AanRespectively the fertilizing amount per unit area is F1、F2…FnThe area of the corresponding land; n is the number of prescriptions of the fertilization grade.
In the step 4:
Figure BDA0002943866730000021
Figure BDA0002943866730000022
wherein V is the total volume of the prepared fertilizer; s is the solubility of the fertilizer; ρ is the density of water; c0The mass concentration of the prepared fertilizer mother liquor is shown.
The step 51 comprises:
511) setting the irrigation depth of the fan-shaped spraying area to be HiAnd the duty ratio of the nozzle electromagnetic valve is PWMiTo obtain the set value of the percentage timer of the circular sprinkler
Figure BDA0002943866730000023
Wherein H0The water filling depth is set when the set value of the percentage timer of the circular sprinkler is 100% and the duty ratio of the electromagnetic valve of the spray head is 100%;
512) calculating the mass concentration of the sprayed water and fertilizer liquid
Figure BDA0002943866730000031
Wherein, FiFertilizing amount per unit area of the fan-shaped spraying area; a. theiIs the area of the fan-shaped spraying area;
513) setting machine-entering flow Q of sprinkler in fan-shaped spraying areai；
514) Working flow required by the fertilizer injection pump in the fan-shaped spraying area is obtained
Figure BDA0002943866730000032
Wherein, C0The mass concentration of the prepared fertilizer mother liquor is obtained;
the PWMi100 percent of the total weight of the alloy, and H is less than or equal to 5mmi≤HsumIn which H issumThe designed irrigation depth is provided for the irrigation and fertilization prescription chart.
Said step 52 comprises:
step 521) in the sector spraying area, setting the solenoid valve duty ratio of the small management area with the maximum fertilizing amount and the irrigation depth of the small management area with the minimum fertilizing amount, and obtaining the irrigation depth of the small management area with the maximum fertilizing amount and the solenoid valve duty ratio of the small management area with the minimum fertilizing amount, wherein:
setting the duty ratio PWM of the electromagnetic valve of the spray head in the small management area with the maximum fertilizing amount in the fan-shaped spraying areaj-maxTo obtain the duty ratio of the electromagnetic valve of the nozzle in the small management area with the minimum fertilizing amount
Figure BDA0002943866730000033
Wherein Fj-max、Fj-minRespectively the maximum and minimum fertilizing amount per unit area in all small management areas in the fan-shaped spraying area;
setting the irrigation depth of the small management area with the minimum fertilizing amount to be Hj-minTo obtain the irrigation depth of the small management area with the maximum fertilizing amount
Figure BDA0002943866730000034
Step 522) obtaining the duty ratio of the nozzle electromagnetic valve of other small management areas of the sector spraying area
Figure BDA0002943866730000035
Wherein Fj-elseThe fertilizing amount per unit area of any small management area except the maximum and minimum fertilizing amount small management areas;
obtaining the irrigation depth of other small management areas in the sector spraying area
Figure BDA0002943866730000041
Step 523) get the percentage timer set value for the sector spray area
Figure BDA0002943866730000042
Wherein PWMjkDuty ratio of solenoid valve for any small management area in the sector spraying area, HjkThe irrigation depth of any small management area;
step 524) obtaining the mass concentration of the sprayed water and fertilizer liquid in the fan-shaped spraying area
Figure BDA0002943866730000043
FjkFertilizing amount per unit area of any small management area, SjkThe area of any small management area, N is the number of small management areas divided in the fan-shaped spraying area, and rho is the density of water;
step 525) setting the machine-entering flow Q of the sprinkler in the fan-shaped sprinkling areaj；
Step 526) obtaining the flow rate of the fertilizer injection pump in the sector spraying area;
Figure BDA0002943866730000044
wherein, C0The mass concentration of the prepared fertilizer mother liquor is obtained;
the PWMj-max100 percent, wherein H is more than or equal to 5mmj-min≤HsumIn which H issumThe designed irrigation depth is provided for the irrigation and fertilization prescription chart.
The step 61 comprises:
step 611) in the fan-shaped spraying area, subtracting the irrigation depth when water and fertilizer liquid are sprayed from the total irrigation depth designed according to the irrigation prescription map to obtain the irrigation depth of the large management area for spraying clear water
Hu＝Hsum-Hi
Wherein HsumTotal irrigation depth, HiThe irrigation depth of the large management area when water and fertilizer liquid are sprayed is obtained;
step 612) setting the duty ratio of the nozzle electromagnetic valve of the sector spraying area to PWMuTo obtain the set value of the percentage timer of the circular sprinkler
Figure BDA0002943866730000051
The step 62 includes:
step 621) in the fan-shaped spraying area, subtracting the irrigation depth when spraying the water and fertilizer liquid from the irrigation depth of the fertigation prescription chart to obtain the irrigation depth of the clear water sprayed in each small management area
Hv＝Hsum-Hj
Step 622) setting the duty ratio PWM of the spray head electromagnetic valve of the small management area with the maximum irrigation depthv-max(in order to improve the working efficiency and save energy, the duty ratio of the solenoid valve is recommended to be set to be 100%), and the duty ratios of the spray head solenoid valves of other small management areas are calculated
Figure BDA0002943866730000052
Wherein Hv-maxFor the maximum depth of irrigation in each community, Hv-elseThe irrigation depth of any other small management area;
step 623) calculating the set value of the percentage timer of the circular sprinkler in the sector spraying area;
Figure BDA0002943866730000053
wherein, PWMvkSolenoid duty cycle for any one of the subdivisions in the sector spray area，HvkThe irrigation depth of any small management area.
The invention has the beneficial effects that:
1. the method is characterized in that the calculation of each operation parameter of the accurate irrigation and fertilization of the circular sprinkler is carried out according to the crop irrigation and fertilization prescription chart, so that the preparation is made for realizing the accurate water and fertilizer application, and the aims of saving water, losing weight and improving the fertilizer utilization rate can be achieved.
2. The set value of a percentage timer of the circular sprinkler, the duty ratio of a sprinkler electromagnetic valve and the working flow of a fertilizer injection pump are comprehensively considered and changed to carry out accurate regulation and control of variable irrigation and fertilization, and the differentiated requirements of specific areas in a management plot on irrigation and fertilization are met.
Drawings
FIG. 1 is a schematic flow chart of an embodiment 1 of a method for implementing precise variable irrigation and fertilization by a circular sprinkler according to the present invention;
fig. 2 is a diagram of a fertigation recipe according to example 2 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Embodiment 1 of the present invention shown in fig. 1 includes:
1) dividing the plot into a plurality of large management areas and small management areas according to the irrigation and fertilization demand in the whole management plot provided by an irrigation and fertilization prescription diagram, and calculating the area of each management area according to the angle and the radius;
the management area is divided into the following modes: according to the irrigation and fertilization prescription information, a central fulcrum shaft of the circular sprinkler is taken as a center, a plurality of fan-shaped sprinkling areas with different angles are divided along the circumferential direction, and then the fan-shaped sprinkling areas are divided into different small management areas according to the difference of irrigation and fertilization amount and the number of groups of sprinklers of the circular sprinkler; if the irrigation quantity and the fertilizing quantity in a certain fan-shaped spraying area are not different, the fan-shaped spraying area is a large management area and is not divided into small management areas; all the large management areas and the small management areas jointly form a management plot;
the total irrigation depth H is provided in the irrigation and fertilization prescription chartsum。
2) Dividing each large management area and each small management area into different irrigation and fertilization grades;
specifically, the division standard is a near principle or a natural break point classification method, and the division standard is divided into n levels of irrigation and fertilization levels.
3) Calculating the total fertilization of the plot according to the area of each management area and the fertilization amount per unit area of each management area, specifically comprising the following steps:
Fsum＝F1×Aa1+F2×Aa2+…+Fn×Aan
wherein, FsumFertilizing the total mass of the management plot in kg; f1、F2…FnThe fertilizing amount per unit area of the 1 st to n-th grade fertilizing grade is kg/hm2；Aa1、Aa2…AanRespectively the fertilizing amount per unit area is F1、F2…FnArea of the corresponding land mass hm2(ii) a n is the number of prescriptions of the fertilization grade.
4) Calculating the total fertilizer preparation volume and the concentration of fertilizer mother liquor according to the selected fertilizer type and the fertilizer solubility;
Figure BDA0002943866730000061
Figure BDA0002943866730000062
wherein V is the total volume of the fertilizer preparation, m3(ii) a S is the solubility of the fertilizer, g/100 g; rho is the density of water, kg/m3；C0The mass concentration of the prepared fertilizer mother liquor is shown.
5) Dividing a management land block into a plurality of fan-shaped spraying areas by taking a central fulcrum shaft of the circular sprinkler as a center, and if a single fertigation prescription is adopted in the fan-shaped spraying areas, taking the fan-shaped spraying areas as large management areas and entering 51); if different fertigation prescriptions are adopted in the sector spraying area, dividing a plurality of small management areas according to the fertigation prescriptions, and entering 52); 51) setting the irrigation depth of the fan-shaped spraying area and the duty ratio of a nozzle electromagnetic valve, and calculating the set value of a percentage timer of the circular spraying machine and the power frequency of a fertilizer injection pump, specifically:
51) setting the irrigation depth of the fan-shaped spraying area and the duty ratio of a spray head electromagnetic valve to obtain the set value of a percentage timer of the circular spraying machine and the working flow of a fertilizer injection pump;
511) setting the irrigation depth of the fan-shaped spraying area to be HiMm (considering that the irrigation depth is less than 5mm, the irrigation depth is recommended to be set to be more than or equal to 5mm) and the duty ratio of the nozzle electromagnetic valve is PWMi(in order to improve the working efficiency and save energy, the duty ratio of the electromagnetic valve is recommended to be set to be 100%), and the set value of the percentage timer of the circular sprinkler is obtained
Figure BDA0002943866730000071
Wherein H0When the set value of a percentage timer of the circular sprinkler is 100% and the duty ratio of a spray head electromagnetic valve is 100%, the circular sprinkler is in the water filling depth of the fan-shaped sprinkling area, which is mm; in the present embodiment, PWMiThe flow rate of the sprinkler is 100 percent, and the sprinkler has high traveling speed under the duty ratio of the electromagnetic valve;
512) calculating the mass concentration of the sprayed water and fertilizer liquid
Figure BDA0002943866730000072
Wherein, FiThe fertilizer application amount per unit area of the fan-shaped spraying area is kg/hm2；AiIs the area of the fan-shaped spraying area hm2；
513) Setting machine-entering flow Q of sprinkler in fan-shaped spraying areai，m3/h；
514) Obtaining the working flow m required by the fertilizer injection pump in the fan-shaped spraying area3/h
Figure BDA0002943866730000073
515) The fertilizer injection pump preferentially recommends using a plunger pump, and when the plunger stroke is fixed, the power supply frequency, Hz of the motor is obtained
fi＝r+s×P+t×qi
Wherein r, s and t are coefficients; and P is the pressure of the circular sprinkler in the machine, and is MPa.
In this example, r is-1.082, s is 3.520, and t is 165 for a plunger pump with a rated flow rate of 300L/h.
52) Setting the duty ratio of a spray head electromagnetic valve of the small management area with the largest fertilizing amount and the irrigation depth of the small management area with the smallest fertilizing amount in the fan-shaped spraying area, and obtaining the irrigation depth of the small management area with the largest fertilizing amount and the duty ratio of the spray head electromagnetic valve of the small management area with the smallest fertilizing amount; then, sequentially obtaining the irrigation depth and the duty ratio of the nozzle electromagnetic valve of other small management areas in the sector spraying area; finally, the set value of a percentage timer of the circular sprinkler in the sector spraying area and the working flow of the fertilizer injection pump are obtained;
521) in the sector spraying area, the electromagnetic valve duty ratio of the small management area with the largest fertilizing amount and the irrigation depth of the small management area with the smallest fertilizing amount are set, and the irrigation depth of the small management area with the largest fertilizing amount and the electromagnetic valve duty ratio of the small management area with the smallest fertilizing amount are obtained.
The specific steps in this step are:
5221) setting the duty ratio PWM of the electromagnetic valve of the spray head in the small management area with the maximum fertilizing amount in the fan-shaped spraying areaj-max(in order to improve the working efficiency and save energy, the duty ratio of the electromagnetic valve is recommended to be set to be 100 percent), and the duty ratio of the electromagnetic valve of the spray head of the small management area with the minimum fertilizing amount is obtained
Figure BDA0002943866730000074
Wherein Fj-max、Fj-minThe maximum and minimum fertilizing amount per unit area in all small management areas in the sector spraying area are respectively.
5222) Setting minimum fertilizing amountThe irrigation depth of the small management area is Hj-min(preferably considering irrigation depth more than or equal to 5mm, otherwise ineffective irrigation), obtaining irrigation depth of the small management area with maximum fertilizing amount
Figure BDA0002943866730000081
In the present embodiment, PWMj-maxThe flow rate of the sprinkler is 100 percent, and the sprinkler has high traveling speed under the duty ratio of the electromagnetic valve;
522) calculating a percentage timer set point for the fan spray zone
Figure BDA0002943866730000082
Wherein, PWMjkDuty ratio of solenoid valve for any small management area in the sector spraying area, HjkThe irrigation depth of any small management area;
523) obtaining the mass concentration of the sprayed water and fertilizer liquid in the fan-shaped spraying area
Figure BDA0002943866730000083
Wherein, FjkFertilizing amount per unit area of any small management area, SjkThe area of any small management area, and N is the number of small management areas divided in the fan-shaped spraying area;
524) setting the flow Q of the sprinkler in the fan-shaped sprinkling areaj，m3/h；
525) Obtaining the flow rate of a fertilizer injection pump in the sector spraying area;
Figure BDA0002943866730000084
step 527) the fertilizer injection pump preferentially recommends using a plunger pump, and when the stroke of the plunger is constant, the power supply frequency of the motor is obtained
fi＝r+s×P+t×qj
Wherein r, s and t are coefficients; and P is the pressure of the circular sprinkler in the machine, and is MPa.
In this example, r is-1.082, s is 3.520, and t is 165 for a plunger pump with a rated flow rate of 300L/h.
6) And (4) subtracting the sprayed water and fertilizer liquid depth from the designed water filling depth of each management area, and calculating to obtain the residual clear water filling depth to obtain the set value of the percentage timer of the circular sprinkler and the duty ratio of the electromagnetic valve of the sprinkler. A sector spraying area consisting of a large management area, entering 61); a fan-shaped spray area consisting of a plurality of small management areas, entering 62);
step 61) calculating the irrigation depth of the fan-shaped spraying area; obtaining the duty ratio of the electromagnetic valve of the spray head and the set value of the percentage timer of the circular sprinkler, specifically:
step 611) in the fan-shaped spraying area, subtracting the irrigation depth when water and fertilizer liquid are sprayed from the total irrigation depth designed according to the irrigation prescription map to obtain the irrigation depth H of the large management area for spraying clear wateru
Hu＝Hsum-Hi
Wherein HsumTotal irrigation depth, HiThe irrigation depth of the large management area is increased when water and fertilizer liquid are sprayed.
Step 612) setting the duty ratio of the nozzle electromagnetic valve of the sector spraying area to PWMu(in order to improve the working efficiency and save energy, the duty ratio of the electromagnetic valve is recommended to be set to be 100%), and the set value of the percentage timer of the circular sprinkler is obtained
Figure BDA0002943866730000091
In the present embodiment, PWMuThe duty ratio of the electromagnetic valve is 100 percent, and the traveling speed of the sprinkler is high.
Step 62) calculating the irrigation depth of each small management area of the sector spraying area; setting the duty ratio of the spray head electromagnetic valve of the small management area with the largest irrigation depth, and obtaining the duty ratios of the spray head electromagnetic valves of other small management areas; finally, the set value of the percentage timer of the circular sprinkler in the sector spraying area is obtained, specifically:
step 621) in the fan-shaped spraying area, subtracting the irrigation depth when spraying the water and fertilizer liquid from the irrigation depth designed according to the irrigation prescription map to obtain the irrigation depth of spraying clear water in each small management area
Hv＝Hsum-Hj
Step 622) setting the duty ratio PWM of the spray head electromagnetic valve of the small management area with the maximum irrigation depthv-maxCalculating the duty ratio of the nozzle electromagnetic valves of other small management areas;
Figure BDA0002943866730000092
wherein Hv-maxThe maximum irrigation depth in each small management area is mm; hv-elseThe irrigation depth of any other small management area is mm;
in the present embodiment, PWMv-maxThe duty ratio of the electromagnetic valve is 100 percent, and the traveling speed of the sprinkler is high.
Step 623) calculate the sector spray area circular sprinkler percentage timer set value.
Figure BDA0002943866730000093
Wherein, PWMvkDuty ratio of solenoid valve for any small management area in the sector spraying area, HvkThe irrigation depth of any small management area is mm.
Example 2 of the present invention as shown in FIG. 2
1) A first fan-shaped spraying area consisting of a 101 large management area 1, a second fan-shaped spraying area consisting of a 201 small management area 2 and a 202 small management area 3, a third fan-shaped spraying area consisting of a 301 small management area 4 and a 302 small management area 5, a fourth fan-shaped spraying area consisting of a 401 large management area 6 and a fifth fan-shaped spraying area consisting of a 501 large management area 7;
first fan-shaped sprayThe angles of the sprinkling area, the second fan-shaped sprinkling area, the third fan-shaped sprinkling area, the fourth fan-shaped sprinkling area and the fifth fan-shaped sprinkling area are respectively 30 degrees, 60 degrees, 45 degrees, 35 degrees and 10 degrees. The boundary between the small 201 management area 2 and the small 202 management area 3 in the second fan-shaped spraying area is positioned between the spray heads No. 13 and No. 14 (between the first 13 spray heads and the second 1 spray heads), and the total flow rate Q of the first 13 spray headstotal13＝4.45m3Total flow Q of the last 15 nozzlestotal15＝16.55m3H) distance from the central pivot axis R1About 43 m. The boundary between the small management areas 4 and 302 and the small management area 5 is located between the number 17 and the number 18 (the second span between the number 4 and the number 5) (the first 17 nozzles have total flow rate Q)total17＝8.15m3Total flow Q of the last 11 nozzlestotal11＝12.85m3H) distance from the center pivot axis R2About 57 m. The effective spraying radius R of the circular sprinkler is 94.2 m; the pressure of the mixture entering the machine is 0.25 MPa; when the percentage setting value of the circular sprinkler is 100% and the duty ratio of the nozzle electromagnetic valve is 100%, the irrigation depth H when the percentage timer of the circular sprinkler is 100% and the duty ratio of the nozzle electromagnetic valve is 100%0Is 2.46 mm; designed irrigation depth H provided by irrigation and fertilization prescription diagramsum＝35mm。
Calculating the area of each management area, wherein:
area of 101 large management area:
Figure BDA0002943866730000101
area of cell 201 management area:
Figure BDA0002943866730000102
area of 202 cell management area:
Figure BDA0002943866730000103
area of cell management 301:
Figure BDA0002943866730000104
302 cell management areaArea of (d):
Figure BDA0002943866730000105
401 area of large management area:
Figure BDA0002943866730000106
501 area of large management area:
Figure BDA0002943866730000107
2) dividing each large management area and each small management area into different irrigation and fertilization grades according to the fertilization amount of the summer corn provided in the figure 2 and irrigation and fertilization demand; the classification method used in this embodiment is a natural break point classification method, and is divided into three fertigation levels according to a standard from high to low, so as to obtain: 101 large management area, 401 large management area with high nitrogen supply level, F3＝120kg/hm2(ii) a The 201 small management area and 301 small management area are of medium nitrogen application level, F2＝100kg/hm2(ii) a The 202 small management area, 302 small management area and 501 large management area are low nitrogen application level, F1＝80kg/hm2。
3) Calculating the total fertilization amount of the land, wherein:
total nitrogen application:
F＝F1×(A3+A5+A7)+F2×(A2+A4)+F3×(A1+A6)
＝80×(0.3683+0.2208+0.0774)+100×(0.0968+0.1276)+120×(0.2323+0.2710)＝136.16kg
selecting the fertilizer type: the nitrogen content FNC of the urea is 46 percent
Total fertilization amount:
Figure BDA0002943866730000111
selecting urea with solubility S of 25g/100g
4) Calculating the total fertilizer preparation volume and the concentration of the fertilizer mother liquor according to the selected fertilizer type and the fertilizer solubility, specifically:
calculating the volume of the fertilizer mother liquor
Figure BDA0002943866730000112
Mass concentration of fertilizer mother liquor
Figure BDA0002943866730000113
5) Dividing each sector spraying area according to the type of the management area, wherein the large management area is a sector spraying area and enters 51); small management areas in the same sector area form a sector spraying area, and the small management areas enter 52); in this embodiment, the first fan-shaped spraying area, the fourth fan-shaped spraying area, and the fifth fan-shaped spraying area enter 51), the second fan-shaped spraying area, and the third fan-shaped spraying area enter 52), and the calculation steps are respectively:
calculating the fertilizing amount to be F3A first fan-shaped spraying area (101 large management area) and a fourth fan-shaped spraying area (401 large management area)
Setting the irrigation depth H of the first fan-shaped spraying area1The irrigation depth H of the fourth fan-shaped spraying area610mm, solenoid valve duty cycle PWM for the first sector spray zone1Duty cycle PWM of solenoid valve in fourth sector spraying area6Percent timer set point, 100%
Figure BDA0002943866730000114
Mass concentration of sprayed water fertilizer liquid
Figure BDA0002943866730000115
Plunger type fertilizer injection pump flow
Figure BDA0002943866730000116
Power frequency of plunger type fertilizer injection pump at 100% stroke
f1＝f6＝-1.082+3.520P+165q＝-1.082+3.520×0.25+165×0.27＝44.35Hz
Wherein k is1、k6Set point for percentage timer for circular sprinkler, C1、C6Is sprayed with water fertilizer liquid with mass concentration q1、q6Flow rate of plunger type fertilizer injection pump, f1、f6The power frequency of the plunger type fertilizer injection pump is adopted.
Calculating the fertilizing amount to be F1The fifth sector spray area (501 big management area)
Depth of irrigation H710mm, solenoid valve duty cycle PWM7When 100%, the percentage timer set point
Figure BDA0002943866730000121
Mass concentration of sprayed water fertilizer liquid
Figure BDA0002943866730000122
Plunger type fertilizer injection pump flow
Figure BDA0002943866730000123
Power frequency of plunger type fertilizer injection pump at 100% stroke
f7＝-1.082+3.520P+0.165q＝-1.082+3.520×0.25+165×0.181＝29.50Hz
Calculating the second fan-shaped spraying area with the fertilizing amount of F2201 cell management area and is F1202 cell management area set 201 cell management area electromagnetic valve duty ratio PWM2When the power is 100%, the duty ratio of the solenoid valve in the 202 small management area
Figure BDA0002943866730000124
Set 202 the irrigation depth H of the management area3Calculating the irrigation depth of a 201-cell management area as 10mm
Figure BDA0002943866730000125
Calculate percent timer set point
Figure BDA0002943866730000126
Mass concentration of sprayed water fertilizer liquid
Figure BDA0002943866730000127
Flow rate of sprinkler
Q2＝Qtotal13+Qtotal15×80％＝4.45+16.55×80％＝17.69m3/h
Plunger type fertilizer injection pump flow
Figure BDA0002943866730000128
Power frequency of plunger type fertilizer injection pump at 100% stroke
f2＝f3＝-1.082+3.520P+165q＝-1.082+3.520×0.25+165×0.155＝25.37Hz
Calculating the third fan-shaped spraying area, wherein the fertilizing amount is F2301 cell management area, F1Electromagnetic valve duty ratio PWM of 302 small management area and 301 small management area4When the power is 100%, the duty ratio of the electromagnetic valve in the 302 small management area
Figure BDA0002943866730000131
Setting 302 water filling depth H of management district5Calculating the irrigation depth of a 301 small management area as 10mm
Figure BDA0002943866730000132
Calculate percent timer set point
Figure BDA0002943866730000133
Mass concentration of sprayed water fertilizer liquid
Figure BDA0002943866730000134
Flow rate of sprinkler
Q4＝Qtotal17+Qtotal11×80％＝8.15+12.85×80％＝18.43m3/h
Plunger type fertilizer injection pump flow
Figure BDA0002943866730000135
Power frequency of plunger type fertilizer injection pump at 100% stroke
f4＝f5＝-1.082+3.520P+165q＝-1.082+3.520×0.25+165×0.162＝26.53Hz
6) Calculating the irrigation depth and the duty ratio of the electromagnetic valve when each partition is sprayed with clear water
The water filling depth of a 101 large management area, a 401 large management area, a 501 large management area, a 202 small management area and a 302 small management area
H1'＝H3'＝H5'＝H'6＝H'7＝Hsum-H1＝35-10＝25mm
Irrigation depth of 201 small management area and 301 small management area
H'2＝H'4＝Hsum-H2＝35-12.5＝22.5mm
Obtaining the electromagnetic valve duty ratio of 201 small management area and 301 small management area
Figure BDA0002943866730000136
Setting the duty ratio of the solenoid valve in a large management area 101, a large management area 401, a large management area 501, a small management area 202 and a small management area 302 to be 100 percent to obtain the set value of the percentage timer of the circular sprinkler
Figure BDA0002943866730000137

Claims (10)

1.一种圆形喷灌机精准变量灌溉施肥实现方法，其特征在于，包括：1. a method for realizing precise variable irrigation and fertilization of a circular sprinkler, is characterized in that, comprising: 步骤1)根据灌溉施肥处方图提供的整个管理地块内的灌溉和施肥需求量，将地块划分为若干个大管理区及小管理区，并根据角度和半径计算各管理区的面积；Step 1) according to the irrigation and fertilization requirements in the whole management plot provided by the irrigation and fertilization prescription map, the plot is divided into several large management areas and small management areas, and the area of each management area is calculated according to angle and radius; 步骤2)将各大管理区和各小管理区分别划分为不同的灌溉施肥等级；Step 2) each major management area and each small management area are divided into different irrigation and fertilization grades respectively; 步骤3)根据各管理区的面积及施肥量计算出该管理地块的总施肥量；Step 3) calculates the total fertilization rate of this management plot according to the area and fertilization rate of each management area; 步骤4)根据选择的肥料类型及相应的肥料溶解度计算出配肥总体积和肥料母液浓度；Step 4) according to the selected fertilizer type and corresponding fertilizer solubility, calculate compound fertilizer total volume and fertilizer mother liquor concentration; 步骤5)以圆形喷灌机中心支轴为中心，将管理地块划分出若干扇形喷洒区域，若扇形喷洒区域内采用单一的灌溉施肥处方，则该扇形喷洒区域为大管理区，进入51；若扇形喷洒区域内采用不同的灌溉施肥处方，则依据灌溉施肥处方划分出若干小管理区，进入52；Step 5) with the central pivot of the circular sprinkler as the center, the management plot is divided into several fan-shaped spraying areas, if a single irrigation and fertilization prescription is adopted in the fan-shaped spraying area, then this fan-shaped spraying area is a large management area, and enters 51; If different irrigation and fertilization prescriptions are used in the fan-shaped spraying area, several small management areas are divided according to the irrigation and fertilization prescriptions, and enter 52; 步骤51)设定该扇形喷洒区域的灌水深度及喷头电磁阀占空比，求得圆形喷灌机的百分率计时器设定值及注肥泵工作流量；Step 51) set the irrigation depth and the nozzle solenoid valve duty ratio of this fan-shaped spraying area, obtain the percentage timer setting value of the circular sprinkler irrigation machine and the working flow of the fertilizer injection pump; 步骤52)设定该扇形喷洒区域内施肥量最大的小管理区的喷头电磁阀占空比及施肥量最小的小管理区的灌水深度，求得施肥量最大的小管理区的灌水深度及施肥量最小的小管理区的喷头电磁阀占空比；然后依次求得该扇形喷洒区域内其他小管理区的灌水深度和喷头电磁阀占空比；最后求得该扇形喷洒区域内圆形喷灌机的百分率计时器设定值及注肥泵工作流量；Step 52) Set the sprinkler solenoid valve duty ratio of the small management area with the largest fertilization amount in the fan-shaped spray area and the irrigation depth of the small management area with the smallest fertilization amount, and obtain the irrigation depth and fertilization of the small management area with the largest fertilization amount The duty ratio of the sprinkler solenoid valve in the small management area with the smallest amount is obtained; then the irrigation depth and the duty ratio of the sprinkler solenoid valve in other small management areas in the fan-shaped spraying area are obtained in turn; finally, the circular sprinkler in the fan-shaped spraying area is obtained. The percentage timer setting value and the working flow of the fertilizer injection pump; 步骤6)根据各管理区设计灌水深度减去喷洒水肥液深度后计算得到剩余的清水灌水深度，求得圆形喷灌机百分率计时器设定值及喷头电磁阀占空比；由大管理区构成的扇形喷洒区域，进入61；由多个小管理区构成的扇形喷洒区域，进入62；Step 6) Calculate the remaining clear water irrigation depth after deducting the depth of spraying water and fertilizer solution according to the design irrigation depth of each management area, and obtain the percentage timer setting value of the circular sprinkler irrigation machine and the duty ratio of the sprinkler solenoid valve; It is composed of a large management area The fan-shaped spraying area, enter 61; the fan-shaped spraying area composed of multiple small management areas, enter 62; 步骤61)计算该扇形喷洒区域的灌水深度；求得喷头电磁阀占空比和圆形喷灌机百分率计时器设定值；Step 61) Calculate the irrigation depth of the fan-shaped spray area; obtain the duty ratio of the sprinkler solenoid valve and the set value of the circular sprinkler percentage timer; 步骤62)计算该扇形喷洒区域各小管理区的灌水深度；设定灌水深度最大的小管理区的喷头电磁阀占空比，求得其他小管理区的喷头电磁阀占空比；最后求得该扇形喷洒区域的圆形喷灌机百分率计时器设定值。Step 62) Calculate the irrigation depth of each small management area in the fan-shaped spraying area; set the duty ratio of the nozzle solenoid valve of the small management area with the largest irrigation depth, and obtain the duty ratio of the nozzle solenoid valve of other small management areas; finally obtain Circular pivot percentage timer setting for this sector. 2.根据权利要求1所述的一种圆形喷灌机精准变量灌溉施肥实现方法，其特征在于，所述地块划分的方式为：根据灌溉施肥处方信息，以圆形喷灌机中心支轴为中心，沿圆周方向划分角度不同的若干扇形喷洒区域，然后在各扇形喷洒区域内根据灌溉施肥量的差异性及圆形喷灌机喷头组数划分为不同的小管理区；若某扇形喷洒区域内灌溉量与施肥量无差异，则扇形喷洒区域为大管理区，不再划分小管理区；由全部大管理区和小管理区共同组成管理地块。2. The method for realizing precise variable irrigation and fertilization of a circular sprinkler according to claim 1, characterized in that, the method of dividing the plot is: according to the information of the irrigation and fertilization prescription, the central fulcrum of the circular sprinkler is In the center, divide several fan-shaped spraying areas with different angles along the circumferential direction, and then divide each fan-shaped spraying area into different small management areas according to the difference in the amount of irrigation and fertilization and the number of sprinkler groups of circular sprinklers; if a fan-shaped spraying area is If there is no difference between the amount of irrigation and the amount of fertilization, the fan-shaped spraying area is a large management area, and the small management area is no longer divided; the management plot is composed of all the large management area and the small management area. 3.根据权利要求1所述的一种圆形喷灌机精准变量灌溉施肥实现方法，其特征在于，所述步骤3中：3. a kind of circular sprinkler irrigation and fertilization realization method according to claim 1 is characterized in that, in described step 3: Fsum＝F1×Aa1+F2×Aa2+...+Fn×Aan F sum =F 1 ×A a1 +F 2 ×A a2 +...+F n ×A an 其中，Fsum为该管理地块施肥总质量；F1、F2…Fn为第1～n级施肥等级的单位面积施肥量；Aa1、Aa2…Aan分别为单位面积施肥量为F1、F2…Fn所对应地块的面积；n为施肥等级处方数。Among them, F sum is the total mass of fertilization in the management plot; F 1 , F 2 ... F n are the fertilization amount per unit area of the 1st to n fertilization grades; A a1 , A a2 ... A an are the fertilization amount per unit area, respectively. The area of the plot corresponding to F 1 , F 2 . . . F n ; n is the number of prescriptions for the fertilization grade. 4.根据权利要求1所述的一种圆形喷灌机精准变量灌溉施肥实现方法，其特征在于，所述步骤4中：4. a kind of circular sprinkler irrigation and fertilization realization method according to claim 1 is characterized in that, in described step 4:
Figure FDA0002943866720000021
Figure FDA0002943866720000021
Figure FDA0002943866720000022
Figure FDA0002943866720000022
 其中，V为配肥总体积；S为肥料溶解度；ρ为水的密度；C0为所配肥料母液质量浓度。Among them, V is the total volume of fertilizer; S is the solubility of fertilizer; ρ is the density of water; C 0 is the mass concentration of the prepared fertilizer mother liquor. 5.根据权利要求1所述的一种圆形喷灌机精准变量灌溉施肥实现方法，其特征在于，所述步骤51包括：5. The method for realizing precise variable irrigation and fertilization of a circular sprinkler according to claim 1, wherein the step 51 comprises: 511)设定该扇形喷洒区域的灌水深度为Hi和喷头电磁阀占空比为PWMi，求得圆形喷灌机百分率计时器设定值511) Set the irrigation depth of the fan-shaped spraying area as H i and the duty cycle of the nozzle solenoid valve as PWM i , and obtain the set value of the circular sprinkler percentage timer
Figure FDA0002943866720000023
Figure FDA0002943866720000023
 其中，H0为当圆形喷灌机百分率计时器设定值为100％且喷头电磁阀占空比为100％时的灌水深度；Among them, H 0 is the irrigation depth when the set value of the percentage timer of the circular sprinkler is 100% and the duty cycle of the sprinkler solenoid valve is 100%; 512)求得喷洒水肥液质量浓度512) Obtain the mass concentration of sprayed water and fertilizer solution
Figure FDA0002943866720000024
Figure FDA0002943866720000024
 其中，Fi为该扇形喷洒区域的单位面积施肥量；Ai为扇形喷洒区域的面积；Wherein, F i is the fertilization amount per unit area of the fan-shaped spraying area; A i is the area of the fan-shaped spraying area; 513)设定扇形喷洒区域内喷灌机入机流量Qi；513) set the flow rate Q i of the sprinkler into the machine in the fan-shaped spraying area; 514)求得该扇形喷洒区域内注肥泵需要的工作流量514) Obtain the working flow required by the fertilizer injection pump in the fan-shaped spraying area
Figure FDA0002943866720000025
Figure FDA0002943866720000025
 其中，C0为所配肥料母液质量浓度。Wherein, C 0 is the mass concentration of the prepared fertilizer mother liquor. 6.根据权利要求5所述的一种圆形喷灌机精准变量灌溉施肥实现方法，其特征在于，所述PWMi为100％，5mm≤Hi≤Hsum，其中Hsum为灌溉施肥处方图提供的设计灌水深度。6. The method for realizing precise variable irrigation and fertilization of a circular sprinkler according to claim 5, wherein the PWM i is 100%, and 5mm≤H i≤H sum , wherein H sum is an irrigation and fertilization prescription diagram Provided design water depth. 7.根据权利要求1所述的一种圆形喷灌机精准变量灌溉施肥实现方法，其特征在于，所述步骤52包括：7. The method for realizing precise variable irrigation and fertilization of a circular sprinkler according to claim 1, wherein the step 52 comprises: 步骤521)在本扇形喷洒区域内，设定施肥量最大的小管理区的电磁阀占空比和施肥量最小的小管理区的灌水深度，求得施肥量最大的小管理区的灌水深度和施肥量最小的小管理区的电磁阀占空比，其中：Step 521) In this fan-shaped spraying area, set the solenoid valve duty ratio of the small management area with the largest fertilization amount and the irrigation depth of the small management area with the smallest fertilization amount, and obtain the irrigation depth of the small management area with the largest fertilization amount and Solenoid duty cycle for small management areas with minimal fertilization, where: 设定该扇形喷洒区域中施肥量最大的小管理区内喷头电磁阀占空比PWMj-max，求得施肥量最小的小管理区的喷头电磁阀占空比Set the duty ratio PWM j-max of the solenoid valve of the sprinkler in the small management area with the largest amount of fertilizer application in the fan-shaped spraying area, and obtain the duty ratio of the solenoid valve of the sprinkler head in the small management area with the smallest amount of fertilizer application
Figure FDA0002943866720000031
Figure FDA0002943866720000031
 其中Fj-max、Fj-min分别为扇形喷洒区域内所有小管理区中最大和最小单位面积施肥量；Among them, F j-max and F j-min are respectively the maximum and minimum fertilization amount per unit area in all the small management areas in the fan-shaped spraying area; 设定施肥量最小的小管理区的灌水深度为Hj-min，求得施肥量最大的小管理区的灌水深度Set the irrigation depth of the small management area with the smallest amount of fertilization as H j-min , and obtain the irrigation depth of the small management area with the largest amount of fertilizer application
Figure FDA0002943866720000032
Figure FDA0002943866720000032
 步骤522)求得该扇形喷洒区域其他小管理区的喷头电磁阀占空比Step 522) Obtain the duty ratio of the nozzle solenoid valve of other small management areas in the fan-shaped spray area
Figure FDA0002943866720000033
Figure FDA0002943866720000033
 其中Fj-else为除最大、最小施肥量小管理区外，其他任一小管理区的单位面积施肥量；Among them, F j-else is the fertilization amount per unit area of any other small management area except the small management area with the maximum and minimum fertilization amount; 求得该扇形喷洒区域其他小管理区的灌水深度Obtain the irrigation depth of other small management areas in the fan-shaped spraying area
Figure FDA0002943866720000034
Figure FDA0002943866720000034
 步骤523)求得该扇形喷洒区域的百分率计时器设定值Step 523) Obtain the percentage timer setting value of the fan-shaped spray area
Figure FDA0002943866720000035
Figure FDA0002943866720000035
 其中PWMjk为该扇形喷洒区域内任一小管理区的电磁阀占空比，Hjk为任一小管理区的灌水深度，H0为当圆形喷灌机百分率计时器设定值为100％且喷头电磁阀占空比为100％时的灌水深度；Among them, PWM jk is the duty cycle of the solenoid valve of any small management area in the fan-shaped spraying area, H jk is the irrigation depth of any small management area, and H 0 is when the circular sprinkler percentage timer setting value is 100% And the irrigation depth when the duty cycle of the sprinkler solenoid valve is 100%; 步骤524)求得该扇形喷洒区域的喷洒水肥液质量浓度Step 524) obtain the spraying water and fertilizer liquid mass concentration of this fan-shaped spraying area
Figure FDA0002943866720000036
Figure FDA0002943866720000036
 Fjk为任一小管理区的单位面积施肥量，Sjk为任一小管理区的面积，N为该扇形喷洒区域中所划分的小管理区的个数，ρ为水的密度；F jk is the fertilization amount per unit area of any small management area, S jk is the area of any small management area, N is the number of small management areas divided in the fan-shaped spraying area, ρ is the density of water; 步骤525)设定该扇形喷洒区域内喷灌机入机流量Qj；Step 525) Set the inflow flow Q j of the sprinkler irrigation machine in the fan-shaped spraying area; 步骤526)求得该扇形喷洒区域的注肥泵流量；Step 526) obtain the flow rate of the fertilizer injection pump in this fan-shaped spraying area;
Figure FDA0002943866720000041
Figure FDA0002943866720000041
 其中，C0为所配肥料母液质量浓度。Wherein, C 0 is the mass concentration of the prepared fertilizer mother liquor. 8.根据权利要求7所述的一种圆形喷灌机精准变量灌溉施肥实现方法，其特征在于，所述PWMj-max为100％，其中5mm≤Hj-min≤Hsum，其中Hsum为灌溉施肥处方图提供的设计灌水深度。8. The method for realizing precise variable irrigation and fertilization of a circular sprinkler according to claim 7, wherein the PWM j-max is 100%, wherein 5mm≤H j- min≤H sum , wherein H sum Design irrigation depth provided for the irrigation and fertilization prescription map. 9.根据权利要求1所述的一种圆形喷灌机精准变量灌溉施肥实现方法，其特征在于，所述步骤61包括：9. The method for realizing precise variable irrigation and fertilization of a circular sprinkler according to claim 1, wherein the step 61 comprises: 步骤611)在本扇形喷洒区域内，根据灌溉处方图设计的总灌水深度减去喷洒水肥液时的灌水深度得到大管理区喷洒清水的灌水深度Step 611) In this fan-shaped spraying area, the total irrigation depth designed according to the irrigation prescription diagram minus the irrigation depth when spraying water and fertilizer liquid is obtained to obtain the irrigation depth of the large management area sprayed with clear water. Hu＝Hsum-Hi H u =H sum -H i 其中，Hsum为总灌水深度，Hi为喷洒水肥液时大管理区的灌水深度；Among them, H sum is the total irrigation depth, and H i is the irrigation depth of the large management area when spraying water and fertilizer solution; 步骤612)设定该扇形喷洒区域的喷头电磁阀占空比为PWMu，求得圆形喷灌机百分率计时器设定值Step 612) Set the duty cycle of the solenoid valve of the sprinkler head in the fan-shaped spray area as PWM u , and obtain the set value of the percentage timer of the circular sprinkler
Figure FDA0002943866720000042
Figure FDA0002943866720000042
 其中，H0为当圆形喷灌机百分率计时器设定值为100％且喷头电磁阀占空比为100％时的灌水深度。Wherein, H 0 is the irrigation depth when the set value of the percentage timer of the circular sprinkler is 100% and the duty cycle of the sprinkler solenoid valve is 100%. 10.根据权利要求1所述的一种圆形喷灌机精准变量灌溉施肥实现方法，其特征在于，所述步骤62包括：10. The method for realizing precise variable irrigation and fertilization of a circular sprinkler according to claim 1, wherein the step 62 comprises: 步骤621)在本扇形喷洒区域内，根据灌溉施肥处方图的灌水深度减去喷洒水肥液时的灌水深度得到各小管理区喷洒清水的灌水深度Step 621) in this fan-shaped spraying area, obtain the irrigation depth of spraying clear water in each small management area according to the irrigation depth of the irrigation and fertilization prescription map minus the irrigation depth when spraying water and fertilizer liquid. Hv＝Hsum-Hj H v =H sum -H j 步骤622)设定灌水深度最大的小管理区的喷头电磁阀占空比PWMv-max，计算其他小管理区的喷头电磁阀占空比Step 622) Set the duty ratio PWM v-max of the solenoid valve of the sprinkler head in the small management area with the largest irrigation depth, and calculate the duty ratio of the solenoid valve of the sprinkler head in other small management areas
Figure FDA0002943866720000051
Figure FDA0002943866720000051
 其中，Hv-max为各小管理区中最大的灌水深度，Hv-else为其他任一小管理区的灌水深度；Among them, H v-max is the maximum irrigation depth in each small management area, and H v-else is the irrigation depth of any other small management area; 步骤623)计算该扇形喷洒区域圆形喷灌机百分率计时器设定值；Step 623) Calculate the percentage timer setting value of the circular sprinkler in the fan-shaped spray area;
Figure FDA0002943866720000052
Figure FDA0002943866720000052
 其中，PWMvk为该扇形喷洒区域内任一小管理区的电磁阀占空比，Hvk为任一小管理区的灌水深度，H0为当圆形喷灌机百分率计时器设定值为100％且喷头电磁阀占空比为100％时的灌水深度。Among them, PWM vk is the duty cycle of the solenoid valve of any small management area in the fan-shaped spraying area, H vk is the irrigation depth of any small management area, H 0 is when the circular sprinkler percentage timer is set to 100 % and the irrigation depth when the duty cycle of the sprinkler solenoid valve is 100%.
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