CN115777313A - Water and fertilizer regulation and control system and method, water and fertilizer controller and storage medium - Google Patents
Water and fertilizer regulation and control system and method, water and fertilizer controller and storage medium Download PDFInfo
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Abstract
The invention provides a water and fertilizer regulation and control system, a water and fertilizer regulation and control method, a water and fertilizer controller and a storage medium, wherein the system comprises: an irrigation branch and a fertilizer injection branch; the irrigation branch comprises a water storage tank, an irrigation pump, a liquid mixing device and a sensor module; the water storage tank, the irrigation pump, the liquid mixing device and the sensor module are sequentially connected through a first pipeline; the fertilizer injection branch comprises a fertilizer stock solution barrel and a fertilizer injection pump; the fertilizer raw liquid barrel, the fertilizer injection pump and the liquid mixing device are sequentially connected through a second pipeline; the irrigation pump, the fertilizer injection pump and the sensor module are all connected with the water and fertilizer controller; the sensor module is used for acquiring a pipeline pressure value of the irrigation branch and a solution index value of the water and fertilizer solution; and the water and fertilizer controller is used for controlling the operating frequency of the irrigation pump based on the pipeline pressure value and controlling the operating frequency of the fertilizer injection pump through a PID algorithm based on the solution index value. The invention can improve the efficiency and the degree of automation of water and fertilizer regulation and control, greatly reduce the investment cost and realize automatic fine control on the preparation of the water and fertilizer mixed liquid.
Description
Technical Field
The invention relates to the technical field of agriculture, in particular to a water and fertilizer regulation and control system and method, a water and fertilizer controller and a storage medium.
Background
China is short of water resources, and the per-capita occupancy is only 1/4 of that of the global per-capita. As the agriculture in China mainly adopts an extensive type flood irrigation mode, a large amount of water resource waste is caused. Meanwhile, the annual fertilizer usage amount of China is the first worldwide and accounts for one third of the total amount of the world. The phenomenon of over fertilization in China is highlighted at present after the total consumption of the fertilizer is excessive. The long term excessive use of fertilizers can cause serious environmental problems.
At present, agricultural water and fertilizer management in China is transiting from extensive type to accurate type. At present, part of modern greenhouses begin to adopt water and fertilizer integrated equipment to regulate and control water and fertilizer, however, the equipment is mostly imported from abroad, the use cost is high, and the actual use rate is not high. In addition, although the water and fertilizer management of the facility agriculture is improved to a certain extent, the water and fertilizer management mainly adopts manual control fertilization, and the water and fertilizer regulation and control have the defects of low precision, low automation degree and the like.
Disclosure of Invention
The invention provides a water and fertilizer regulation and control system, a water and fertilizer regulation and control method, a water and fertilizer controller and a storage medium, which are used for solving the defects of high water and fertilizer regulation and control cost, complex operation, lower precision, low automation degree and the like in the water and fertilizer management process in the prior art.
The invention provides a water and fertilizer regulation and control system, which comprises:
an irrigation branch and a fertilizer injection branch;
the irrigation branch comprises a water storage tank, an irrigation pump, a liquid mixing device and a sensor module; the water storage tank, the irrigation pump, the liquid mixing device and the sensor module are sequentially connected through a first pipeline;
the fertilizer injection branch comprises a fertilizer stock solution barrel and a fertilizer injection pump; the fertilizer raw liquid barrel, the fertilizer injection pump and the liquid mixing device are sequentially connected through a second pipeline;
the irrigation pump, the fertilizer injection pump and the sensor module are all connected with the water and fertilizer controller; the sensor module is used for acquiring a pipeline pressure value of the irrigation branch and a solution index value of the water-fertilizer solution;
the water and fertilizer controller is used for controlling the operating frequency of the irrigation pump based on the pipeline pressure value and controlling the operating frequency of the fertilizer injection pump through a PID algorithm based on the solution index value.
According to the water and fertilizer regulation and control system provided by the invention, the fertilizer injection branch further comprises: a flow monitoring module;
the flow monitoring module is arranged at the output end of the fertilizer injection pump and used for monitoring the flow of the fertilizer stock solution injected into the fertilizer injection pump;
the flow monitoring module is connected with the liquid manure controller, and the liquid manure controller is further used for acquiring flow monitoring data of the flow monitoring module.
According to the water and fertilizer regulation and control system provided by the invention, the sensor module comprises a pipeline pressure sensor, a pipeline flow sensor, a soluble salt concentration EC sensor and a hydrogen ion concentration index pH sensor.
According to the water and fertilizer regulation and control system provided by the invention, the liquid mixing device comprises a variable-frequency stirring pump, and the variable-frequency stirring pump is connected with the water and fertilizer controller;
and the water and fertilizer controller is also used for controlling the operating frequency of the variable-frequency stirring motor based on the solution index value.
According to the water and fertilizer regulation and control system provided by the invention, the system further comprises a plurality of fertilizer injection branches, and each fertilizer injection branch is used for applying different fertilizer stock solutions.
The invention also provides a water and fertilizer regulation and control method applied to the water and fertilizer regulation and control system, which comprises the following steps:
acquiring a solution index value and a pipeline pressure value of the water and fertilizer solution in the irrigation branch by a sensor module;
controlling an operating frequency of the irrigation pump based on a pipeline pressure set value and the pipeline pressure value to adjust the pipeline pressure value to the pipeline pressure set value;
and controlling the operating frequency of the fertilizer injection pump through a PID algorithm based on the solution index value and the target setting index value so as to adjust the solution index value to the target setting index value.
According to the method for regulating and controlling the water and fertilizer, provided by the invention, the operation frequency of the fertilizer injection pump is controlled through a PID algorithm based on the solution index value and the target set index value, and the method comprises the following steps:
determining a first index difference value based on the target setting index value and the solution index value at the ending time of the current preset time period, and determining a second index difference value based on the target setting index value and the solution index value at the ending time of the previous preset time period;
determining a deviation change rate corresponding to the first index difference value based on the first index difference value and the second index difference value;
determining a target frequency compensation amount based on a deviation change rate corresponding to a first index difference value and the first index difference value;
obtaining the operating frequency of the fertilizer injection pump in the next preset time period based on the operating frequency of the fertilizer injection pump in the current preset time period and the target frequency compensation amount;
the operating frequency of the fertilizer injection pump in a first preset time period is determined based on the operating frequency at the previous moment of the starting moment of the first preset time period; the solution index value comprises a water and fertilizer EC value or a water and fertilizer pH value.
According to the method for regulating and controlling the water and fertilizer provided by the invention, the step of determining the target frequency compensation amount based on the deviation change rate corresponding to the first index difference value and the first index difference value comprises the following steps:
determining a first frequency compensation amount based on the first index difference value and a preset proportional coefficient;
determining a second frequency compensation amount based on the deviation change rate corresponding to the first index difference value and a preset integral coefficient;
and obtaining the target frequency compensation quantity based on the first frequency compensation quantity and the second frequency compensation quantity.
The invention also provides a water and fertilizer controller, which comprises a memory, a processor and a computer program which is stored on the memory and can be run on the processor, wherein when the processor executes the program, the water and fertilizer control method is realized.
The invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements any one of the methods for regulating and controlling water and fertilizer.
The invention also provides a computer program product comprising a computer program, wherein the computer program is used for realizing the water and fertilizer regulation and control method when being executed by a processor.
The water and fertilizer regulation and control system, the method, the water and fertilizer controller and the storage medium provided by the invention can be compatible with most of the existing irrigation systems by adopting a bypass installation mode, reduce the engineering modification amount, realize unmanned operation on the water and fertilizer regulation and control management process, improve the water and fertilizer regulation and control efficiency and the automation degree and greatly reduce the investment cost; meanwhile, by adopting a PID control algorithm and dynamically adjusting liquid preparation parameters, automatic fine control can be realized on the liquid-fertilizer mixture preparation, and the precision of the liquid-fertilizer mixture is effectively improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a water and fertilizer regulation system provided by the invention;
FIG. 2 is a schematic flow chart of a water and fertilizer regulation method provided by the invention;
fig. 3 is a schematic physical structure diagram of a water and fertilizer controller provided by the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The water and fertilizer regulation system, the method, the water and fertilizer controller and the storage medium of the invention are described in the following with reference to fig. 1 to 3.
Fig. 1 is a schematic structural diagram of a water and fertilizer regulation system provided by the present invention, and as shown in fig. 1, the system may include:
an irrigation branch and a fertilizer injection branch;
the irrigation branch comprises a water storage tank 1, an irrigation pump 2, a liquid mixing device 3 and a sensor module 4; the water storage tank 1, the irrigation pump 2, the liquid mixing device 3 and the sensor module 4 are sequentially connected through a first pipeline;
the fertilizer injection branch comprises a fertilizer stock solution barrel 5 and a fertilizer injection pump 6; the fertilizer raw liquid barrel 5, the fertilizer injection pump 6 and the liquid mixing device 3 are sequentially connected through a second pipeline;
the irrigation pump 2, the fertilizer injection pump 6 and the sensor module 4 are all connected with a water and fertilizer controller 7; the sensor module 4 is used for acquiring a pipeline pressure value of the irrigation branch and a solution index value of the water-fertilizer solution;
the water and fertilizer controller 7 is used for controlling the running frequency of the irrigation pump 2 based on the pipeline pressure value and controlling the running frequency of the fertilizer injection pump 6 based on the solution index value through a PID algorithm.
The traditional irrigation system generally comprises a water storage tank, an irrigation pump, a field irrigation pipeline and the like. In order to be compatible with the existing irrigation system as much as possible and reduce the engineering transformation amount, the invention adopts bypass installation, and only needs to install the liquid mixing device and the sensor module on the original irrigation pipeline, and the fertilizer injection branch is installed on the bypass.
In particular, the first pipeline described in the embodiment of the present invention refers to a pipeline structure on an irrigation branch, which can be applied to an irrigation pipeline in most existing irrigation systems.
The second pipeline described in the embodiment of the present invention refers to a pipeline structure on the fertilizer injection branch.
In the embodiment of the invention, the liquid mixing device is used for adjusting the use ratio of the injected fertilizer stock solution and the water for dilution, and the obtained water-fertilizer solution is ensured to meet the index value required by crop irrigation.
In the embodiment of the invention, the solution indexes of the water and fertilizer solution can comprise the water and fertilizer soluble salt concentration EC value and the water and fertilizer hydrogen ion concentration index (pH value) pH value. The EC value is used for measuring the concentration of soluble salt in the solution, and can also be used for measuring the concentration of soluble ions in a water fertilizer solution or a planting medium. The general requirements of crops on the concentration and the pH value of a water and fertilizer solution are as follows: EC is more than 1 and less than or equal to 4mS/cm, and pH is more than or equal to 5 and less than or equal to 8.
In the embodiment of the invention, the water storage tank, the irrigation pump, the liquid mixing device and the sensor module are sequentially connected through the first pipeline, and when the irrigation pump is started, clear water in the water storage tank is injected into the liquid mixing device to dilute the fertilizer stock solution injected into the liquid mixing device, so that the solution index value of the obtained water-fertilizer solution is ensured to be in accordance with the set target index value range. The water flow injected into the liquid mixing device can be adjusted by adjusting the running frequency of the irrigation pump.
In the embodiment of the invention, the fertilizer raw liquid barrel, the fertilizer injection pump and the liquid mixing device are sequentially connected through the second pipeline, so that the fertilizer raw liquid in the fertilizer raw liquid barrel can be injected into the liquid mixing device to be mixed with water when the fertilizer injection pump is started. The flow of the fertilizer stock solution injected into the liquid mixing device can be adjusted by adjusting the operating frequency of the fertilizer injection pump.
After the liquid mixing device outputs the liquid manure solution processed by the liquid mixing device, the liquid manure solution passes through the sensor module, and the sensor module can acquire the pipeline pressure value of the irrigation branch and the solution index value of the liquid manure solution in real time.
Based on the content of the above embodiments, as an alternative embodiment, the sensor module includes a pipeline pressure sensor, a pipeline flow sensor, a soluble salt concentration EC sensor and a hydrogen ion concentration index pH sensor.
Specifically, in the embodiment of the invention, the pressure applied to the pipeline wall by the water-fertilizer solution in the irrigation branch can be monitored in real time by adopting the pipeline pressure sensor, and the flow condition of the water-fertilizer solution in the pipeline can also be indirectly estimated; the real-time flow of the water and fertilizer solution in the irrigation branch can be accurately monitored through the pipeline flow sensor; the EC value of the water and fertilizer solution in the irrigation branch can be monitored in real time through the EC sensor; the pH value of the water and fertilizer solution in the irrigation branch can be monitored in real time through the pH sensor.
According to the system provided by the embodiment of the invention, the sensor module can be loaded with various precise sensors, and by loading the pipeline pressure sensor, the pipeline flow sensor, the EC sensor and the pH sensor, the related parameter information of the water and fertilizer solution in the irrigation branch can be monitored in real time, so that real-time monitoring data support is provided for the fine control of a subsequent water and fertilizer controller, and the automation degree of water and fertilizer regulation and control is favorably improved.
Further, in this embodiment, the irrigation pump, the fertilizer injection pump and the sensor module are all connected to the liquid manure controller, and the liquid manure controller may specifically be connected in a wired communication connection or a wireless communication connection manner, and data interaction may be established between the liquid manure controller and the irrigation pump, the fertilizer injection pump and the sensor module through data connection, so as to obtain relevant parameter data of the liquid manure solution in real time, such as an EC value and a pH value of the liquid manure, and control the operation of the irrigation pump and the fertilizer injection pump, and assist the precision of liquid manure regulation and control.
In the embodiment of the invention, the liquid manure controller can specifically acquire various data such as a pipeline pressure value, a solution index value and the like acquired by the sensor module, and carry out an automatic control process according to the data.
For example, the water and fertilizer controller can control the operating frequency of the irrigation pump based on the pipeline pressure value, and when the pipeline pressure value is detected not to reach the set pipeline pressure value range, the water and fertilizer controller can gradually increase the operating frequency of the irrigation pump to adjust the pipeline pressure value in the irrigation branch to the set pipeline pressure value range; when the detected pipeline pressure value exceeds the set pipeline pressure value range, the water and fertilizer controller can gradually reduce the operating frequency of the irrigation pump, and the pipeline pressure value in the irrigation branch is adjusted to the set pipeline pressure value range.
In the embodiment of the invention, the water and fertilizer controller can also control the operating frequency of the fertilizer injection pump through a PID algorithm based on the detected solution index value of the water and fertilizer solution. When the EC value of the water and fertilizer solution is detected not to reach the set EC value range, the operation frequency of the fertilizer injection pump can be controlled through a PID algorithm, the operation frequency of the fertilizer injection pump is gradually increased, the injection amount of the fertilizer stock solution is increased, and the EC value of the water and fertilizer solution is improved to reach the set EC value range. Similarly, when the EC value of the water and fertilizer solution is detected to be beyond the set EC value range, the operation frequency of the fertilizer injection pump can be controlled through a PID algorithm, the operation frequency of the fertilizer injection pump is gradually reduced, and the injection amount of the fertilizer stock solution is reduced, so that the EC value of the water and fertilizer solution is reduced until the EC value range is reached.
The PID algorithm is a method for controlling a controlled object by a controlled variable by linearly combining the proportion, the differentiation and the integration of a deviation.
Optionally, in the embodiment of the present invention, the PID algorithm may adopt a structure of proportional-integral PI control, where PI control is a control algorithm that combines a proportional link and an integral link in process control.
In the PI control algorithm, a controlled object is controlled by linearly combining the proportion and integral of a control deviation, which is composed of a given value and an actual output value, into a control variable. In the proportional link, a deviation signal of a control system can be reflected in real time in proportion, and once the deviation is generated, the controller immediately generates a control action to reduce the deviation. The proportional link has a large effect, so that the adjustment can be accelerated, and the error is reduced. The integration link is mainly used for eliminating static difference and improving the zero-difference degree of the system. Because of the error, the integral adjustment will proceed until there is no difference and the integral adjustment stops. The strength of the integration depends on the integration constant, and the larger the integration constant is, the weaker the integration is, and vice versa.
The water and fertilizer regulation and control system provided by the embodiment of the invention can be compatible with most of the existing irrigation systems by adopting a bypass installation mode, reduces the engineering modification amount, can realize unmanned operation on the water and fertilizer regulation and control management process, improves the water and fertilizer regulation and control efficiency and the automation degree, and greatly reduces the investment cost; meanwhile, by adopting a PID control algorithm and dynamically adjusting the liquid preparation parameters, the automatic fine control of the liquid and fertilizer mixing configuration can be realized, and the precision of the liquid and fertilizer mixing is effectively improved.
Based on the content of the above embodiment, as an optional embodiment, the fertilizer injection branch further includes: a flow monitoring module;
the flow monitoring module is arranged at the output end of the fertilizer injection pump and used for monitoring the flow of the fertilizer stock solution injected into the fertilizer injection pump;
the flow monitoring module is connected with the liquid manure controller, and the liquid manure controller is also used for acquiring flow monitoring data of the flow monitoring module.
Specifically, in the embodiment of the invention, the water and fertilizer regulation and control system can further introduce a flow monitoring module, and the flow monitoring module is arranged at the output end of the fertilizer injection pump, so that the flow of the fertilizer stock solution injected into the fertilizer injection pump can be monitored in real time.
In this embodiment, the flow monitoring module is connected with the liquid manure controller, and the liquid manure controller can also acquire flow monitoring data of the flow monitoring module.
In the embodiment of the invention, the liquid manure controller dynamically adjusts the solution index value of the liquid manure solution in the current irrigation branch according to the real-time feedback of the flow monitoring module by acquiring the fertilizer injection flow data of the fertilizer stock solution injected into the fertilizer injection pump in real time.
Specifically, the fertilizer injection flow rate value can be preset according to actual debugging experience, and the coarse adjustment process of water and fertilizer regulation and control is implemented. When the fertilizer injection pump works at an initial operating frequency and fertilizer stock solution is injected into the liquid mixing device, the flow monitoring module can monitor flow data of the injected fertilizer stock solution in real time, and the water and fertilizer controller detects that the current fertilizer injection flow does not reach a preset fertilizer injection flow value, can control the fertilizer injection pump to increase the operating frequency, increase the fertilizer injection flow to reach the preset fertilizer injection flow value, and complete a coarse adjustment process of water and fertilizer regulation.
After the fertilizer injection flow is detected to reach the preset fertilizer injection flow value, the liquid fertilizer controller can dynamically adjust liquid preparation parameters through a PID control algorithm, and finely control and prepare liquid for the liquid fertilizer mixed liquid preparation, so that the efficiency of the whole liquid fertilizer regulation and control process can be effectively accelerated.
According to the system provided by the embodiment of the invention, the flow monitoring module is introduced, the water and fertilizer controller monitors the flow of the fertilizer stock solution injected into the fertilizer injection pump in real time, the whole coarse adjustment process of water and fertilizer regulation can be implemented according to the monitored fertilizer injection flow data, the whole water and fertilizer liquid preparation process is accelerated, and the implementation efficiency of water and fertilizer regulation can be effectively improved.
Based on the content of the above embodiment, as an optional embodiment, the liquid mixing device includes a variable frequency stirring pump, and the variable frequency stirring pump is connected with the liquid manure controller;
the water and fertilizer controller is also used for controlling the operating frequency of the variable-frequency stirring motor based on the solution index value.
In particular, in the embodiment of the invention, a variable frequency stirring pump can be introduced into the liquid mixing device. By detecting the fertilizer injection flow of the fertilizer stock solution in the fertilizer injection branch, the operating frequency of the variable-frequency stirring pump can be dynamically adjusted, and the rate of dissolving the fertilizer stock solution in water is accelerated.
For example, when the fertilizer injection flow of the fertilizer stock solution in the fertilizer injection branch is increased and the water and fertilizer controller detects that the flow of the fertilizer stock solution injected into the water is increased to a certain degree through the flow monitoring module, the stirring frequency of the variable-frequency stirring pump in the liquid mixing device can be regulated and controlled to be increased along with the increase of the fertilizer injection flow of the liquid mixing device, so that the mixing rate of the water and fertilizer mixed liquid is accelerated.
According to the system provided by the embodiment of the invention, the variable-frequency stirring pump is introduced into the liquid mixing device, so that the speed of dissolving the fertilizer stock solution in water can be increased in the process of quickly regulating and controlling the water and fertilizer in the whole system, and the efficiency of regulating and controlling the water and fertilizer can be further improved.
Based on the content of the above embodiment, as an optional embodiment, the system further includes a plurality of fertilizer injection branches, and each fertilizer injection branch is used for applying different fertilizer stock solutions.
Specifically, with reference to fig. 1, as shown in fig. 1, in the embodiment of the present invention, due to the structural design of the main irrigation installation liquid mixing device, the number of fertilizer injection branches for injecting fertilizer with fertilizer raw liquid can be freely selected by a user, and multiple fertilizer injection branches, such as 3 branches, can be adopted, and each fertilizer injection branch is used for applying different fertilizer raw liquid. For example, 3 branches are used for injecting potassium dihydrogen phosphate solution, urea solution and nitrogen-phosphorus-potassium mixed solution respectively.
In the embodiment of the invention, through the multi-branch design of the fertilizer injection branch, the liquid fertilizer regulation and control system is not limited by the liquid mixing requirement of a liquid fertilizer fixed preparation mode, and a user can adopt dynamic liquid fertilizer formula adjustment according to the actual needs of field crops, so that the crops can obtain more comprehensive nutrition and reproductive growth.
The method for regulating and controlling the water and fertilizer provided by the invention is described below, and the method for regulating and controlling the water and fertilizer described below and the system for regulating and controlling the water and fertilizer described above can be referred to correspondingly.
Fig. 2 is a schematic flow chart of a water and fertilizer regulation method provided by the present invention, which can be applied to the water and fertilizer regulation system, as shown in fig. 2, it can be understood that an execution main body of the method may be a water and fertilizer controller, and the method may specifically include:
and step 230, controlling the operation frequency of the fertilizer injection pump through a PID algorithm based on the solution index value and the target setting index value so as to adjust the solution index value to the target setting index value.
Specifically, in the embodiment of the invention, the irrigation pump, the fertilizer injection pump and the sensor module are all connected with the water and fertilizer controller, and the water and fertilizer controller can acquire the solution index value and the pipeline pressure value of the water and fertilizer solution in the irrigation branch acquired by the sensor module in real time.
In the embodiment of the present invention, a step-by-step regulation and control manner may be adopted, and the regulation and control scheme described in step 220 is first executed to regulate the pipeline pressure value applied by the water and fertilizer solution in the irrigation branch to the pipeline pressure set value.
In particular, the PID algorithm described in the embodiments of the present invention can also be a fuzzy neural network PID control algorithm. In step 220, the existing fuzzy neural network PID control algorithm can be adopted for regulation, at this time, the model can be set as C = f (p 1, p 2), the current pipeline pressure value is compared with the pipeline pressure set value, the deviation and the deviation change rate between the current pipeline pressure value and the pipeline pressure set value are calculated and used as the input of the fuzzy neural network PID, and the output end of the fuzzy neural network PID control algorithm is connected with a frequency converter in the irrigation pump. And constructing a fuzzy neural network system by using the fuzzy neural network, so that the fuzzy rule can be extracted and optimized on line. The fuzzy neural network system consists of an input layer, a fuzzy inference layer, a rule operation layer and an output layer which are connected in sequence; according to the principle of a fuzzy neural network PID, carrying out formula deduction on a dynamic model of a fuzzy neural network system to obtain three basic parameters corresponding to the fuzzy neural network PID, namely a proportionality coefficient kp, an integral coefficient ki and a differential coefficient kd; by adjusting the three parameters, the optimization process of the fuzzy neural network on the PID parameters can be realized, the control on the irrigation pump is realized, and the aim of adjusting the pipeline pressure value to the pipeline pressure set value is further fulfilled.
Then, the control scheme in step 230 is executed, the operating frequency of the fertilizer injection pump is controlled through the PID algorithm, and the solution index value is adjusted to the target set index value. In step 230, an existing fuzzy neural network PID control algorithm may also be used for regulation, and at this time, the model may be represented as C = f (a 1, a2, C1j, C2j, d1k, d2k, e1h, e2 h), where j, k, and h are all 1. Comparing the current solution index value with a target set index value, calculating the deviation and the deviation change rate between the current solution index value and the target set index value as the input of a fuzzy neural network PID, and connecting the output end of the fuzzy neural network PID with a fertilizer injection pump; the fuzzy neural network is constructed by utilizing the fuzzy neural network, so that the fuzzy rules can be extracted and optimized on line, the PID parameters can be optimized by the fuzzy neural network through adjusting the three basic parameters corresponding to the PID of the fuzzy neural network, the fine control of the fertilizer injection pump can be realized, and the aim of achieving the aim of setting the solution index value of the water and fertilizer solution to the target value can be achieved.
Optionally, in the process of executing the control scheme in step 230, the operating frequency of the fertilizer injection pump may be controlled by a PI structure algorithm in the PID algorithm, and the solution index value is adjusted to the target set index value.
According to the method provided by the embodiment of the invention, a bypass type installation mode is adopted, most of the existing irrigation systems can be compatible, the engineering modification amount is reduced, unmanned operation can be realized in the water and fertilizer regulation and control management process, the water and fertilizer regulation and control efficiency and the automation degree are improved, and the investment cost is greatly reduced; meanwhile, by adopting a PID control algorithm and dynamically adjusting liquid preparation parameters, automatic fine control can be realized on the liquid-fertilizer mixture preparation, and the precision of the liquid-fertilizer mixture is effectively improved.
Based on the content of the above embodiment, as an optional embodiment, the method for controlling the operating frequency of the fertilizer injection pump by using the PID algorithm based on the solution index value and the target setting index value includes:
determining a first index difference value based on the target set index value and the solution index value at the ending time of the current preset time period, and determining a second index difference value based on the target set index value and the solution index value at the ending time of the last preset time period;
determining a deviation change rate corresponding to the first index difference value based on the first index difference value and the second index difference value;
determining a target frequency compensation amount based on the deviation change rate corresponding to the first index difference value and the first index difference value;
obtaining the operating frequency of the fertilizer injection pump in the next preset time period based on the operating frequency of the fertilizer injection pump in the current preset time period and the target frequency compensation amount;
the operation frequency of the fertilizer injection pump in the first preset time period is determined based on the operation frequency at the previous moment of the starting moment of the first preset time period; the solution index value comprises a water and fertilizer EC value or a water and fertilizer pH value.
Specifically, in the embodiment of the present invention, the preset time period refers to a preset time period, which may be specifically set to be one time period every 5 seconds(s), and may also be set to be one time period every 15 s.
The first index difference described in the embodiment of the present invention is a difference obtained by subtracting the solution index value of the water and fertilizer solution at the ending time of the current preset time period from the target setting index value.
The second index difference described in the embodiment of the present invention is a difference obtained by subtracting the solution index value of the water and fertilizer solution at the end time of the last preset time period from the target setting index value.
The target frequency compensation amount described in the embodiment of the present invention refers to a frequency compensation amount required for calculating the operating frequency of the injection pump in the next preset time period.
In an embodiment of the invention, the solution index value comprises a water manure EC value or a water manure pH value. Assuming that the target setting index value corresponding to the EC value is 1.5mS/cm, when the difference between the target setting index value and the detected solution index value of the water and fertilizer solution is determined to be less than 0.5mS/cm, the operating frequency of the fertilizer injection pump can be controlled by adopting a PI control structure in a PID algorithm, so as to finely regulate and control the water and fertilizer solution preparation.
Firstly, the solution index value of the water-fertilizer solution is monitored in real time, the solution index value at the ending time of the current preset time period is monitored, and the solution index value T at the ending time of the current preset time period is set according to a target set index value S n The first index difference p can be calculated n ＝S-T n And based on S and the end of the previous predetermined time periodSolution index value T n-1 Determining a second index difference p n-1 ＝S-T n-1 。
In the embodiment of the invention, the PI control algorithm is used when the difference value between the target set index value and the detected solution index value of the water and fertilizer solution reaches the range of less than 0.5 mS/cm. At this time, the operation frequency of the fertilizer injection pump in the first preset time period is determined based on the operation frequency at the previous moment of the starting moment of the first preset time period. Optionally, when the PI control algorithm is performed, the operation frequency of the fertilizer injection pump at the last time of the start time of the first preset time period may be directly used as the operation frequency of the fertilizer injection pump in the first preset time period.
Further, according to the calculated first index difference value p n Difference p from the second index n-1 Calculating the deviation change rate d corresponding to the first index difference n ＝p n -p n-1 . After the first index difference and the deviation change rate corresponding to the first index difference are obtained, a target frequency compensation quantity Δ f required for calculating the operation frequency of the injection fertilizer pump in the next preset time period can be calculated according to the PI control function based on the first index difference and the deviation change rate corresponding to the first index difference.
Further, in the embodiment of the present invention, the operating frequency f = f +/Δ f of the fertilizer injection pump in the next preset time period may be obtained by summing the operating frequency f of the fertilizer injection pump in the current preset time period and the target frequency compensation amount Δ f.
Based on the above embodiment, by analogy, the operation frequency of the fertilizer injection pump in each preset time period can be calculated through a PI control algorithm, so that the fertilizer injection pump can be finely controlled to inject the fertilizer stock solution, and the solution preparation precision of the water and fertilizer regulation and control system can be improved.
In the embodiment of the present invention, the PID control process for adjusting the pH value of the liquid fertilizer solution in liquid fertilizer regulation may also be performed according to the embodiment of adjusting the EC value of the liquid fertilizer solution, which is not described herein again.
It should be noted that within the range of tax concentration and pH value required by crop growth, the EC value change has better linearity and the pH value change has obvious nonlinearity when the water-fertilizer mixed liquid is carried out. Therefore, the change of the pH value of the water and fertilizer is more complicated than the change of the EC value in the process of regulating and controlling the water and fertilizer, and the pH value is greatly influenced by the change of the EC value within the range of 5 to 8. Therefore, the method quickly finishes the regulation and control of the EC value, stabilizes the control quantity of the fertilizer liquid, and then controls the quantity of the acid liquid to finish the regulation and control of the pH value of the water-fertilizer solution so as to obtain better water-fertilizer regulation and control effect.
According to the method provided by the embodiment of the invention, the solution index value change trend of the liquid manure solution is continuously monitored in the preset time period through the PI control algorithm, the operation frequency of the fertilizer injection pump in each preset time period is corrected, the fine adjustment of the operation frequency of the fertilizer injection pump is realized, the liquid preparation precision of the liquid manure regulation and control system can be effectively improved, the liquid manure regulation and control efficiency is improved, and the system operation energy consumption is reduced.
Based on the content of the foregoing embodiment, as an alternative embodiment, the determining the target frequency compensation amount based on the deviation change rate corresponding to the first index difference and the first index difference includes:
determining a first frequency compensation amount based on the first index difference value and a preset proportional coefficient;
determining a second frequency compensation quantity based on the deviation change rate corresponding to the first index difference value and a preset integral coefficient;
and obtaining a target frequency compensation amount based on the first frequency compensation amount and the second frequency compensation amount.
Specifically, the preset proportionality coefficient Kp described in the embodiment of the present invention is a proportionality coefficient value in a preset PI control algorithm, and a value range of the preset proportionality coefficient Kp may be 0.7 to 0.85. Optionally, in the embodiment of the present invention, the preset proportionality coefficient may take a value Kp =0.8.
The preset integral coefficient Ki described in the embodiment of the present invention is an integral coefficient value in a preset PI control algorithm, and the value range thereof may be 0.4 to 0.6. Optionally, in the embodiment of the present invention, the preset scaling factor may take a value Ki =0.5.
Further, in the practice of the present inventionIn the example, based on the first index difference p n And a preset proportional coefficient Kp, and calculating to obtain a first frequency compensation quantity Kp n (ii) a Deviation change rate d corresponding to difference value based on first index n ＝p n -p n-1 And a predetermined integral coefficient Ki, by which a second frequency compensation quantity Ki d can be calculated n 。
Further, in the embodiment of the present invention, based on summing the first frequency compensation amount and the second frequency compensation amount, the target frequency compensation amount Δ f = Kp × p may be obtained n +Ki*d n 。
According to the method provided by the embodiment of the invention, the control deviation signal in the PI control algorithm is formed based on the difference value between the target set index value and the detected water and fertilizer solution index value, the deviation is reduced through the operation of the proportional integral link, the fine adjustment of the operating frequency of the fertilizer injection pump in the water and fertilizer regulation and control system can be realized, and the liquid preparation precision and the regulation and control efficiency of the water and fertilizer regulation and control system can be improved.
Fig. 3 is a schematic structural diagram of a water and fertilizer controller provided in the present invention, and as shown in fig. 3, the water and fertilizer controller may include: a processor (processor) 310, a communication Interface (Communications Interface) 320, a memory (memory) 330 and a communication bus 340, wherein the processor 310, the communication Interface 320 and the memory 330 communicate with each other via the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the water and fertilizer regulation and control method provided by the above methods, where the method includes: acquiring a solution index value and a pipeline pressure value of the water-fertilizer solution in the irrigation branch acquired by a sensor module; controlling an operating frequency of the irrigation pump based on a pipeline pressure set value and the pipeline pressure value to adjust the pipeline pressure value to the pipeline pressure set value; and controlling the running frequency of the fertilizer injection pump through a PID algorithm based on the solution index value and the target setting index value so as to adjust the solution index value to the target setting index value.
In addition, the logic instructions in the memory 330 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
In another aspect, the present invention further provides a computer program product, where the computer program product includes a computer program, the computer program may be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, a computer is capable of executing the water and fertilizer regulation method provided by the above methods, and the method includes: acquiring solution index values and pipeline pressure values of the water and fertilizer solution in the irrigation branch, which are acquired by a sensor module; controlling an operating frequency of the irrigation pump based on a pipeline pressure set value and the pipeline pressure value to adjust the pipeline pressure value to the pipeline pressure set value; and controlling the operating frequency of the fertilizer injection pump through a PID algorithm based on the solution index value and the target setting index value so as to adjust the solution index value to the target setting index value.
In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the water and fertilizer regulation method provided by the foregoing methods when executed by a processor, and the method includes: acquiring solution index values and pipeline pressure values of the water and fertilizer solution in the irrigation branch, which are acquired by a sensor module; controlling an operating frequency of the irrigation pump based on a pipeline pressure set value and the pipeline pressure value to adjust the pipeline pressure value to the pipeline pressure set value; and controlling the running frequency of the fertilizer injection pump through a PID algorithm based on the solution index value and the target setting index value so as to adjust the solution index value to the target setting index value.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A liquid manure regulation and control system is characterized by comprising:
an irrigation branch and a fertilizer injection branch;
the irrigation branch comprises a water storage tank, an irrigation pump, a liquid mixing device and a sensor module; the water storage tank, the irrigation pump, the liquid mixing device and the sensor module are sequentially connected through a first pipeline;
the fertilizer injection branch comprises a fertilizer stock solution barrel and a fertilizer injection pump; the fertilizer raw liquid barrel, the fertilizer injection pump and the liquid mixing device are sequentially connected through a second pipeline;
the irrigation pump, the fertilizer injection pump and the sensor module are all connected with the water and fertilizer controller; the sensor module is used for acquiring a pipeline pressure value of the irrigation branch and a solution index value of the water and fertilizer solution;
the water and fertilizer controller is used for controlling the operating frequency of the irrigation pump based on the pipeline pressure value and controlling the operating frequency of the fertilizer injection pump through a PID algorithm based on the solution index value.
2. The water and fertilizer regulation system of claim 1, wherein the fertilizer injection branch further comprises: a flow monitoring module;
the flow monitoring module is arranged at the output end of the fertilizer injection pump and is used for monitoring the flow of the fertilizer stock solution injected into the fertilizer injection pump;
the flow monitoring module is connected with the liquid manure controller, and the liquid manure controller is further used for acquiring flow monitoring data of the flow monitoring module.
3. The water and fertilizer regulation system of claim 1, wherein the sensor module comprises a pipeline pressure sensor, a pipeline flow sensor, a soluble salt concentration (EC) sensor, and a hydrogen ion concentration index (pH) sensor.
4. The water and fertilizer regulation and control system of claim 2, wherein the liquid mixing device comprises a variable frequency mixing pump, and the variable frequency mixing pump is connected with the water and fertilizer controller;
and the water and fertilizer controller is also used for controlling the operating frequency of the variable-frequency stirring motor based on the solution index value.
5. A water and fertilizer regulation system as claimed in any one of claims 1-4 further comprising a plurality of fertilizer injection branches, each branch for applying a different fertilizer stock.
6. A method for regulating and controlling water and fertilizer by using the system as claimed in any one of claims 1 to 5, comprising:
acquiring solution index values and pipeline pressure values of the water and fertilizer solution in the irrigation branch, which are acquired by a sensor module;
controlling an operating frequency of the irrigation pump based on a pipeline pressure set value and the pipeline pressure value to adjust the pipeline pressure value to the pipeline pressure set value;
and controlling the operating frequency of the fertilizer injection pump through a PID algorithm based on the solution index value and the target setting index value so as to adjust the solution index value to the target setting index value.
7. The method for regulating and controlling the water and fertilizer according to claim 6, wherein the step of controlling the operating frequency of the fertilizer injection pump through a PID algorithm based on the solution index value and the target setting index value comprises the following steps:
determining a first index difference value based on the target setting index value and the solution index value at the ending time of the current preset time period, and determining a second index difference value based on the target setting index value and the solution index value at the ending time of the previous preset time period;
determining a deviation change rate corresponding to the first index difference value based on the first index difference value and the second index difference value;
determining a target frequency compensation amount based on a deviation change rate corresponding to a first index difference value and the first index difference value;
obtaining the operating frequency of the fertilizer injection pump in the next preset time period based on the operating frequency of the fertilizer injection pump in the current preset time period and the target frequency compensation amount;
the operating frequency of the fertilizer injection pump in a first preset time period is determined based on the operating frequency at the previous moment of the starting moment of the first preset time period; the solution index value comprises a water and fertilizer EC value or a water and fertilizer pH value.
8. The method for regulating and controlling the water and fertilizer as claimed in claim 7, wherein the step of determining a target frequency compensation amount based on the deviation change rate corresponding to the first index difference and the first index difference comprises the steps of:
determining a first frequency compensation amount based on the first index difference value and a preset proportional coefficient;
determining a second frequency compensation quantity based on the deviation change rate corresponding to the first index difference value and a preset integral coefficient;
and obtaining the target frequency compensation quantity based on the first frequency compensation quantity and the second frequency compensation quantity.
9. A water and fertilizer controller comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the water and fertilizer control method according to any one of claims 6 to 8.
10. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method for controlling water and fertilizer according to any one of claims 6 to 8.
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| CN202211474692.4A CN115777313A (en) | 2022-11-22 | 2022-11-22 | Water and fertilizer regulation and control system and method, water and fertilizer controller and storage medium |
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| CN202211474692.4A CN115777313A (en) | 2022-11-22 | 2022-11-22 | Water and fertilizer regulation and control system and method, water and fertilizer controller and storage medium |
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