Control system for boom sprayer and spraying compensation control method

Abstract

The invention relates to a control system for a boom sprayer and a spraying compensation control method. The control system comprises a hydraulic and mechanical driving part and an electric control part, wherein the hydraulic and mechanical driving part provides a proportional flow valve and a three-position four-way solenoid valve to control working parameters of the sprayer, such as the liquid pesticide pressure, fan delivery, spraying angle and distance from a spraying head to a crop canopy; the electric control part searches parameters in an optimal control index parameter table to work out the best spraying control parameters in the state according to acquired external information such as two-dimensional natural wind speed, environmental humiture and tool traveling speed; and then PID (Proportion, Integration and Differentiation) feedback control is performed on each parameter; further, an intelligent control method for the optimal control index is provided; a support vector machine is used for nonlinear characteristic modeling of spraying under a dynamic environment, and the optimal control parameter index table is established by using multi-objective optimization and storedin an SD (Secure Digital) card for reading by a spraying master control system; with the adoption of the above spraying control considering the dynamic variation of the natural environment and based on the optimal control parameter index table, the stability of a spraying system is effectively improved, and the spraying effect is ensured.

Description

technical field [0001] The invention relates to a boom sprayer control system and a spray compensation control method, belonging to the field of plant protection spraying machinery. Background technique [0002] my country's pesticide application technology is accustomed to adopting large-fog droplet and large-capacity spray technology. Among the approximately 1.3 million tons of pesticides applied each year, more than 60% of the pesticide solution is lost to the soil and groundwater. The effective utilization rate is low, and it causes serious environmental pollution. Directly Threat to human health. The greater and more uniform the deposition rate of droplets on the surface of branches and leaves, the higher the pesticide utilization efficiency. Therefore, modern precision spray technology is based on whether it can achieve the best deposition retention and the least liquid loss. In the process of pesticide application, precise pesticide application technology can control ...

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Problems solved by technology

But none of the above-mentioned patents involves the control of working parameters in the spraying operation process

Considering uncontrollable factors such as natural wind speed and wind direction, characteristic factors such as the canopy of crops in different growth periods, and the system parameters of the boom sprayer itself are nonlinear time-varying parameters, when the boom sprayer is operating in the field, it cannot be dynamically Changing the controllable working parameters of the sprayer, it is often difficult to guarantee the effect of droplet drift reduction and deposition

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