WO2020243630A1 - Système, procédé et dispositif de commande d'irrigation goutte à goutte - Google Patents

Système, procédé et dispositif de commande d'irrigation goutte à goutte Download PDF

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Publication number
WO2020243630A1
WO2020243630A1 PCT/US2020/035406 US2020035406W WO2020243630A1 WO 2020243630 A1 WO2020243630 A1 WO 2020243630A1 US 2020035406 W US2020035406 W US 2020035406W WO 2020243630 A1 WO2020243630 A1 WO 2020243630A1
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WIPO (PCT)
Prior art keywords
pressure
pump
controller
emitters
drip irrigation
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PCT/US2020/035406
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English (en)
Inventor
Amos Greene V WINTER
Julia SOKOL
Fiona GRANT
Hannah Varner
Carolyn SHELINE
Rebecca ZUBAJLO
Seiji ENGELKEMIER
Jordan LANDIS
Simone GELMINI
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Massachusetts Institute Of Technology
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Publication of WO2020243630A1 publication Critical patent/WO2020243630A1/fr

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/16—Control of watering
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/02—Watering arrangements located above the soil which make use of perforated pipe-lines or pipe-lines with dispensing fittings, e.g. for drip irrigation
    • A01G25/023—Dispensing fittings for drip irrigation, e.g. drippers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
    • Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion

Definitions

  • SunCulture currently pairs a positive displacement (PD) pump with drip tape and a water storage tank that acts as a buffer between the pump and the drip tape.
  • PD pumps are constant flow devices that ideally release a fixed volume of water per rotation of the internal mechanism.
  • PD pumps are advantageous because they are highly efficient and work well for low flow rate applications.
  • the pump moves water to a tank between the water source and the field. The tank is elevated on a stand to provide the pressure necessary to supply flow to the entire field at a relatively constant pressure.
  • PC emitters are flow control devices that maintain a constant flow above a rated activation pressure (Pact). This contrasts with drip tape, where flow rate is dependent on pressure losses across the system. PC emitters enable effectively uniform irrigation across a field, regardless of distance from the pump, pressure losses along a line, or elevation changes. Irrigation systems exist that pair a centrifugal pump with PC emitters or combine a PD pump with drip tape. PD pumps and PC emitters have not been paired due to the challenge of syncing two flow control devices.
  • a drip irrigation system comprises an irrigating fluid source.
  • the irrigating fluid is typically water and the source is typically a well but may also be a storage tank.
  • each emitter controls flow above an activation pressure.
  • a pipe network delivers irrigating fluid from the fluid source to the pressure compensating emitters.
  • a fluid pump feeds irrigating fluid from the fluid source to the emitters through the pipe network.
  • a controller detects dynamic response of pressure in the pipe network to determine an operating speed and controls pump speed at that operating speed.
  • a positive displacement (PD) pump is a preferred fluid pump.
  • a PD pump is highly efficient and works well for low flow rate applications.
  • pump speed of a PD pump is controlled by a voltage input to the motor of the pump and a dynamic response of pressure in the pipe network at the output of the pump may be detected from a dynamic current response of the motor of the fluid pump.
  • the dynamic response of pressure may be detected from just gain of the current response of the motor or from both the gain and time constant of that current response.
  • the controller increases voltage input to the motor of the fluid pump until a current spike is sensed at the output and then reduces the voltage input to avoid the current spike.
  • the voltage input may be reduced to a sufficiently low level to overcome hysteresis and then returned to a higher voltage level less than that at which the current spikes.
  • the voltage may be increased in steps.
  • the operating speed may be determined from an extremum of a cost function of gain and time constant of the current response.
  • the detected dynamic response of pressure may be a pressure spike in the pipe network.
  • the dynamic response of pressure may be sensed with a pressure sensor in the pipe network.
  • the controller is able to maintain pumping power at about a minimum required for all of the pressure compensating emitters to be at or above activation pressure.
  • increasing flow from a pump feeding the emitters may be monitored to determine an appropriate operating point.
  • the pump may be a positive displacement pump and the emitters may be pressure compensating emitters.
  • the controller may respond to a pressure spike as seen, for example, in a steep increase in motor current, to identify when flow through the emitters stops changing, thus indicating that all emitters are active.
  • the ideal operating point of the pump is the flow just prior to the pressure spike.
  • FIG. l is a schematic illustration of the irrigation system embodying the invention, including additional sensors for experimentation purposes.
  • Figure 2 is an illustration of typical PC emitter behavior for low pressure PC emitters.
  • Figure 3 is a system curve for a system embodying the invention overlaid on constant voltage pump curves of a PD pump.
  • Figure 4 illustrates a control algorithm for identifying input voltage to set the pump speed to an appropriate operating speed.
  • Figures 5A and 5B illustrate the voltage input and the current response of the motor of a PD pump through the algorithm of FIG. 4.
  • Figure 6 is a schematic illustration of an experimental setup for simulating the emitter pipe network of FIG. 1.
  • Figures 7A and 7B represent curves for a typical PD pump.
  • Figures 8A and 8B represent experimental validation of the operation of a PD pump through the algorithm of FIG. 4.
  • Figures 9A and 9B illustrate current and pressure response of two systems having different field sizes.
  • Figures 10A and 10 B illustrate the effects of hysteresis toward a modification of the algorithm of FIG. 4.
  • Figure 11 is the power saving benefits of the system for two field sizes.
  • Figure 12 illustrates differences in gain and time constant in three time regimes of prior to activation, at activation, and post activation;
  • Figure 13 illustrates the step response in each of the three regimes
  • Figure 14 is experimental data for a test and the associated gain and time constant for an entire runtime
  • Figure 15 shows the same plots for three experimental tests
  • Figure 16 illustrates an extremum-seeking control algorithm
  • Figure 17 shows a cost function computed by the algorithm of Fig. 16 for two experimental field sizes.
  • Figure 18 shows input voltage, output current, gain, time constant, and cost function over a simulation.
  • a drip irrigation system embodiment is shown in Fig. 1.
  • a conventional array of PC emitters 102 are placed along parallel pipes 104 fed from a manifold 106. Water is delivered through a feed pipe to the manifold from a well 116 by a PD pump 118 immersed in the well.
  • the feed pipe manifold, and emitter pipes together form a pipe network.
  • the use of a water storage tank may be avoided by delivery of water directly from the well to the drip system pipe network or water may be delivered from a storage tank using an associated pump. That is, the irrigating fluid (typically water) source may be a well, a -s-well with storage tank or just a storage tank. In each case, water is pumped into the pipe network.
  • the irrigating fluid typically water
  • a ball valve 108, flow meter 110, pressure sensors 112 and 114 are provided.
  • a power supply 120 powers the PD pump 118.
  • Data acquisition device 122 receives current and voltage from the power supply.
  • Data acquisition devices 124 are wired to the pressure sensors 112 and 114 and the flow meter 110 and a computer 126 is provided for data analysis and control.
  • SunCulture already provides“smart” solar irrigation systems to their customers that allow dynamic updating of irrigation flow, based on local weather. These systems are connected via cellular network and update a central system with operating data and weather data. The pumps and panels can be triggered remotely via push notifications from a centralized server. This makes the SunCulture system ideally suited for an additional control method that could regulate the pump operating point to dynamically find and maintain the necessary flow rate of a drip irrigation system using PD pump and PC emitters (PD-PC system).
  • PD-PC system PD pump and PC emitters
  • the PD-PC system proposed here meets the operational and design requirements of the current SunCulture system. These requirements included cost, installation time, field size, power requirements, borewell depth, and daily water delivery amounts. In addition to the existing requirements, the control system must be able to detect the ideal operating point where all emitters are within ⁇ 7% of their rated flow, which is the industry standard margin on the nominal flow rate of PC emitters.
  • a progressive cavity PD pump generates a nearly constant flow rate over a range of pressures when operating at a constant speed.
  • the SunCulture PD pump mechanism consists of a helical screw inside a progressive cavity filled with water. When the motor shaft turns the screw, a fixed volume of water inside the cavity is expelled. The mechanical power of the rotating screw is characterized by the speed and torque applied to the motor shaft. The system converts the mechanical power of the motor shaft into hydraulic power, which is characterized by the flow rate and pressure of the displaced water. In reality, there is some slippage at higher pressures due to the deformation of the cavity and incomplete seals, which means the volume of displaced water is actually dependent on the hydraulic pressure inside the cavity [8]
  • PC emitters release a nearly constant flow rate for any pressures above the Pact of the emitter.
  • This pressure compensating behavior is due to a flexible membrane that, above Pact, gradually restricts flow as pressure increases to maintain the rated flow rate ( Figure 2).
  • This constant flow behavior ensures that all crops receive a uniform amount of water even when they are placed along a pipe that has a substantial pressure differential.
  • One drawback of conventional PC emitters is their high Pact, which adds to the total pressure difference that a pump needs to overcome, necessitating larger, more costly pumps. Recent research has led to the development of PC emitters with a significantly lower Pact, enabling their use with lower cost pumping systems. See U. S. Patent 10,426, 104. These low-pressure emitters have a flow rate of 8 ( ⁇ 7%) Lph above a Pact of 0.15 bar, in contrast to commercial emitters, which typically have a Pact of 0.5-1.0 bar.
  • the PD pump is fundamentally an electromechanical device that can be decomposed into the following three subsystems: electrical input, pump motor, and hydraulic network.
  • the physics of each of the subsystems is governed by theoretical equations relating key variables to physical constraints.
  • the electrical power is converted to mechanical power by the motor, which is then converted to hydraulic power by the pump.
  • the electrical power can indirectly be described by Equation (1), where / is electrical current, R sys is the electrical resistance of the system, V i s voltage, and Vemf is the counter electromotive force that opposes the change in current in the motor, also known as back EMF.
  • the back EMF is proportional to the speed of the motor co multiplied by the motor constant k e (Equation (2)).
  • the current (I) is proportional to the torque of the motor (t) divided by the torque constant (kt) (Equation (3)).
  • the mechanics of a PD pump ensure a unique relationship between the motor parameters and the hydraulic parameters.
  • the flow rate of a PD pump, Q is linearly proportional to the speed of the motor, w.
  • the motor torque, t is linearly proportional to the pump pressure, P.
  • Equations (4) and (5) where a and b are proportionality constants.
  • the PD pump pressure-flow curves theoretically map onto the motor torque-speed curves. In reality, these relationships are not perfectly linear because the pump flow rate is influenced by pressure due to slippage in the helical mechanism.
  • Equation (6) a relationship between voltage, torque, and motor speed can be derived (Equation (6)).
  • Equation (8) a relationship between the current draw of the motor and the pressure
  • V a'P + pQ (7)
  • Equations (7) and (8) show a key analytical insight: it is possible to relate the electrical inputs to the pump (V, /) directly to its hydraulic outputs (P, Q). This is only made possible by the unique characteristics of a PD pump. This theoretical relationship can be exploited to control the PD pump electronically in order to optimize the hydraulic performance of a PC drip system. Assuming the voltage (V) is the primary input to the entire system, if the pump is operating below the activation pressure of the emitters, the flow rate ( Q ) and pressure (P) are both free to change with small changes in voltage, as shown in Equation (7). However, once the activation pressure is reached, the PC emitters will force the system flow rate to be relatively constant (Figure 2Error!
  • a drip system here is defined as a network of pipes with evenly spaced emitters. The model was used to validate that the tank would not be needed as a flow buffer if the rated outflow from the pump was sufficient to meet the needs of a typical field for a SunCulture customer.
  • a standard plot is approximately 0.2 ha in size with different vegetables (eg. cabbage, tomatoes, and peppers).
  • the emitters currently used by SunCulture are non-pressure compensating and have a flow rate of 0.5 Lph.
  • Pressure compensating emitters were used for our model in order to mimic the target final system.
  • a half to a third of the field is irrigated every day, with the entire plot irrigated over a two to three-day period at a daily water requirement of 5,000-25,000 L/acre/day.
  • the water source for most farms is a well with a depth between 10 to 20 m. Therefore, the chosen drip system was modeled to irrigate a 0.1 ha plot every day to account for the rotating irrigation schedule.
  • a hydraulics model was used to generate a characteristic system curve.
  • the hydraulics model describes the hydraulic behavior of the system for the given field size, emitter type, total number of emitters, and pipe layout and geometry.
  • the model iteratively calculates the flow and pressure at every point of the system considering the emitter characteristics as well as the pressure losses in the pipes, fittings, and filters.
  • the system curve is characterized by the pressure compensating behavior of the emitters, in which flow is constant once Pact is reached.
  • Figure 3 shows a system curve for a typical 0.1-ha plot with a PD pump and PC emitters.
  • the system curve with the ideal (minimum power) operating point is shown overlaid on SunCulture’ s constant voltage pump curves.
  • Figure 3 Figure shows the system curve with pressure and flow gradually increasing until all of the emitters reached Pact. At this point, the curve becomes almost vertical, with flow remaining constant over a range of pressures.
  • the ideal operating point of the system curve is also the point at which Pact is reached at the emitter farthest from the pump. This is the point at which the minimum power is needed to operate all of the emitters at their rated flow rate.
  • a control algorithm enables the pump to locate the ideal operating point without a priori knowledge of the hydraulic system. This capability enables the controller to work for a variety of farms and meet the installation and training design requirements outlined above. To do this, the controller identifies the regime change from increasing flow rate to constant flow rate as it moves up the system operating curve ( Figure 3). Therefore, the proposed controller design tracks the change in the steady state flow rate of the system to determine where the flow stops changing. This point is where all emitters in the system have reached Pact and are emitting water uniformly at the rated flow rate.
  • the controller was designed to operate without additional hydraulic sensors. Additionally, the motor controller is inaccessible in the existing SunCulture pump; therefore, it was assumed the controller could not directly calculate the flow rate from the motor speed. SunCulture does, however, have the ability to control the input voltage and measure the current to the pump from the solar panels.
  • the current drawn by the motor can be used to detect the point at which the last emitter has reached activation.
  • the behavior of the PC emitters will cause a spike in the system pressure just after all emitters have passed the activation point ( Figure 3). This corresponds to a spike in current predicted by Equation (8) as the motor attempts to overcome the sharp increase in the hydraulic load.
  • the control algorithm is designed to detect this spike in current and bring the system back to operate at the voltage just before the spike occurs.
  • the proposed control algorithm logic flow is shown in Figure 4.
  • the algorithm increases voltage by a user-defined step size at 402 ( Figure 4).
  • a delay at 404 (experimentally determined to be 10 seconds, for example) allows the hydraulic system to reach steady state.
  • the algorithm measures the current draw of the motor at 406 and evaluates the change in current relative to that of the previous step at 407 ( Figure 5B). If the change in current is on the same order of magnitude as the previous change 408, 410, the system has not yet reached activation.
  • the algorithm continues to iteratively increase the voltage at 402 until it detects that the change in current is significantly greater than the previous change, as shown in the“True” pathway 408, 414 in Figure 4.
  • the PC emitters used in the experimental setup were online emitters with a rated flow rate of 8 Lph and a 0.15 bar Pact. These emitters were designed by researchers at the MIT GEAR Lab and manufactured by Jain Irrigation, Ltd. using their standard injection molding and assembly process. To allow for ease of varying drip system size in experiments to, the field of emitters in Fig. 1 was simulated with the network of Fig. 6 The emitter pipe network included five looped pipe sections. Each section of pipe had a set of 32 PC emitters, except for the first inner section with 24 PC emitters. These loops could be added to or removed from the system to simulate different field sizes depending on the test being performed.
  • the emitter pipe network was developed to allow for a range of field sizes and flow rates to be tested in a lab setting with limited space.
  • the straight section of pipe with emitters are representative of straight laterals in a field and the 180-degree bends could be representative of frictional and minor losses in a drip system.
  • the PD pump was characterized. Pressure and flow rates were varied by setting a resistance using the ball valve, selecting a voltage, and then measuring the steady state flow. Pump curves were then generated to characterize baseline performance and capabilities of the PD pump shows that as voltage increases, the flow rate increases at each pressure.
  • the efficiency of the pump was calculated by dividing the input electrical power by the output hydraulic power; the efficiency curves are shown in Figure 7BError! Reference source not found.. The peak efficiency of -35% is achieved at 32 V with a flow rate around 700 Lph.
  • the experimental setup included five pipe sections that could be connected in series to simulate five different field sizes (Fig. 6).
  • the total flow rate, in Lph, was calculated by multiplying the total number of emitters used in each experiment by their rated flow (8 Lph).
  • the first set of experiments was performed with different numbers of pipes connected, effectively changing the field size.
  • the second set of experiments was performed with different pre-loads on the hydraulic system by partially closing off the ball valve after the pump. This second set of experiments simulated different well depths.
  • the aim of these experiments was to determine how the hydraulic system responded to step changes in voltage, and therefore power to the pump, in different configurations.
  • the response of the hydraulic system, and in particular the flow rate, was analyzed to determine how quickly the system settled after changing the input voltage to the motor.
  • a basic control algorithm was developed (Fig. 4) to validate that the ideal operating point of the pump for a given hydraulic system.
  • the control algorithm was developed in National Instruments Lab View 2017. The algorithm controlled the voltage of the power supply and measured the current draw of the motor in order to implement feedback control, as diagrammed in Fig.
  • Sensitivity to Static Head Alteration A second sensitivity analysis was performed to test the system response when the pump was subjected to increased pressure. The aim was to simulate the pumps being placed at depth in a well with different static head. For the same flowrate emitter network, it was observed that the same step in current at activation was seen for pumps that were subjected to increased pressure.
  • the controller successfully located the ideal operating point of the pump for the 704 Lph hydraulic system with no preload.
  • the controller increased voltage in 2 V steps, and at 26 V, all the emitters in the system reached Pact. This can be seen in Figure 10B where the next step up to 28 V produced a sharp increase in pressure and, therefore, the current draw of the motor.
  • the controller In order to bring the system back to the activation pressure, 0.15 bar at the last emitter, the controller had to overcome a hysteretic effect observed in the system.
  • the controller stepped back down to the activation voltage, 26 V, but the last emitter was still above the activation pressure. The current was also higher than it was prior to activation.
  • this unexpected system behavior indicates that the control scheme may need to be modified to ensure robust operating point detection for any field and hydraulic network configuration. Specifically, at 416 in Fig. 4, the voltage is first reduced to a level required to overcome hysteresis and then raised back to Vk - AV.
  • the controller obtains the operating point within the ⁇ 7% error band of the emitter flow rate as demonstrated for the 704 Lph field. This result fulfills the “operating point detection” design requirement.
  • the controller may be modified to step through the entire voltage range of the power supply and compare all of the resulting current steps. The controller could then refine the voltage step size and identify when the last group of emitters is activated.
  • Future improvements to the control scheme may also include development of a continuous monitoring protocol to detect drift from the operating point or any errors initiated by external changes to the irrigation system such as clogged emitters or system malfunction.
  • a continuous monitoring protocol to detect drift from the operating point or any errors initiated by external changes to the irrigation system such as clogged emitters or system malfunction.
  • SunCulture s cloud-based data architecture allows for periodic data transfer between each connected irrigation system, integration of the control algorithm will allow for the future application of machine learning techniques.
  • FIG. 11 shows the power-saving benefits of the controller for flow rates of 704 Lph and 960 Lph by charting the power required to provide an additional unit of flow above and below the activation pressure of the systems.
  • the original form of the control algorithm only takes into consideration the gain, or magnitude increase, of the system pressure in response to a step change in input voltage to the pump. This presents several issues for the implementation of the controller.
  • Figure 13 shows that each regime response is the result of the same 2 V step change in input voltage (top).
  • the bottom figures show the pressure response data from Figure 12 fitted to a model.
  • the gain Before activation the gain is 0.073 and the time constant is 0.613 seconds; during activation the gain is 2.39 and the time constant is 4.15 seconds; after activation the gain is 0.21 and the time constant is 3.03 seconds.
  • the selected control scheme is extreme-seeking control (ESC), which is a well- established method.
  • ESC extreme-seeking control
  • the cost function is defined in a form that has an extremum, either a minimum or a maximum, and the control loop attempts to either minimize or maximize this function to arrive at the desired operating point.
  • the cost function contains both the time constant and the gain, and the algorithm attempts to minimize the cost function by adapting the input over time.
  • PD-PC System Control Algorithm [00112] The control loop for this PD-PC system is shown in Fig. 16.
  • the blocks are defined as follows.
  • Pump + irrigation system 1602 represents the physical behavior of the system with the motor speed controlled by voltage, denoted by u.
  • the measured response is the current, denoted by i.
  • Sensing system dynamic response 1604 represents an algorithm that fits a model to predict the gain, k , and time constant, g, of the system response.
  • the well-established recursive least squares (RLS) method is used to fit the model in this algorithm, but other fitting methods may be used.
  • Cost function 1606 takes in the estimated gain and time constant and computes the cost function, which is defined in Equation 11 :
  • This control scheme seeks to minimize the cost function, and the function is computed using a quadratic formulation to ensure the uniqueness of the minimum value.
  • Extremum-seeking control 1608 contains two submodules.
  • the High-pass filter 1610 estimates the slope of the cost function, and the Integrator 1612 updates the prediction of the input voltage, w, such that the cost function is minimized.
  • the control algorithm provides continuous oscillation of the input voltage as shown by the sine function in the ESC. This continuous shaking of the system is necessary to identify the cost function minimum and therefore detect the ideal system operating point.
  • Figure 17 shows the cost function computed by the algorithm for the two
  • the proposed control algorithms can identify the ideal operating point of the pump electrically— solely by controlling the pump voltage and monitoring its current response— without requiring information about the number of emitters, field size, or layout. This allows the PD-PC system to be responsive to a range of field types without adding complexity to the customer experience.
  • the control algorithm allows but does not require, elimination of the tank from the irrigation system and lower the total cost, while reducing power consumption, making drip irrigation systems more affordable overall. This concept was validated with tests that established scaling factors between electrical current and flow rate across a range of pressures and flow rates. The control algorithm was successful in an experimental setup with flow rates and pressure losses comparable to typical farms in SunCulture’s customer base.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Water Supply & Treatment (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Control Of Positive-Displacement Pumps (AREA)

Abstract

Un système d'irrigation goutte à goutte accouple une pompe, en particulier une pompe à déplacement positif, directement à un réseau de tuyaux pour distribuer de l'eau à des émetteurs de compensation de pression. Une vitesse de fonctionnement optimale de la pompe PD est déterminée par détection d'une réponse dynamique de la pression dans le réseau de tuyaux. Cette réponse dynamique peut être détectée à partir de la réponse actuelle du moteur de la pompe PD.
PCT/US2020/035406 2019-05-30 2020-05-29 Système, procédé et dispositif de commande d'irrigation goutte à goutte WO2020243630A1 (fr)

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
WO2024036342A1 (fr) * 2022-08-12 2024-02-15 Massachusetts Institute Of Technology Systèmes, dispositifs et procédés de gestion de programmes utilisés avec des systèmes d'irrigation alimentés par énergie renouvelable

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CN101449654A (zh) * 2008-12-31 2009-06-10 华中科技大学 一种动态水压滴灌系统
CN102499025A (zh) * 2011-10-26 2012-06-20 华中科技大学 一种变结构的压力补偿式滴灌灌水器
CN202425401U (zh) * 2011-12-30 2012-09-12 广州铁路职业技术学院 一种家用的灌溉装置
US20170367277A1 (en) * 2016-06-27 2017-12-28 Rishi Mohindra Plant watering and communication system
CN108541439A (zh) * 2018-05-29 2018-09-18 农业部南京农业机械化研究所 水肥一体化精量管控系统及控制方法
US10426104B2 (en) 2015-11-20 2019-10-01 Massachusetts Institute Of Technology Pressure compensating emitter having very low activation pressure and large operating range

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101449654A (zh) * 2008-12-31 2009-06-10 华中科技大学 一种动态水压滴灌系统
CN102499025A (zh) * 2011-10-26 2012-06-20 华中科技大学 一种变结构的压力补偿式滴灌灌水器
CN202425401U (zh) * 2011-12-30 2012-09-12 广州铁路职业技术学院 一种家用的灌溉装置
US10426104B2 (en) 2015-11-20 2019-10-01 Massachusetts Institute Of Technology Pressure compensating emitter having very low activation pressure and large operating range
US20170367277A1 (en) * 2016-06-27 2017-12-28 Rishi Mohindra Plant watering and communication system
CN108541439A (zh) * 2018-05-29 2018-09-18 农业部南京农业机械化研究所 水肥一体化精量管控系统及控制方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024036342A1 (fr) * 2022-08-12 2024-02-15 Massachusetts Institute Of Technology Systèmes, dispositifs et procédés de gestion de programmes utilisés avec des systèmes d'irrigation alimentés par énergie renouvelable

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