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Nonlinear control method of uncertainty system of plant protection machine spray rod position

A non-linear control and plant protection machine technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of pesticide spraying under-spray or over-spray, ignoring the uncertainty of spray boom system, etc.

Inactive Publication Date: 2018-11-06
SHENYANG POLYTECHNIC UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The position control of the spray boom of the plant protection machine requires servo tracking of the height of the spray boom from the plant canopy. There have been many research results on the servo tracking control method of the spray boom position of the plant protection machine. However, these results ignore the uncertainty of the spray boom system when considering the position tracking. Non-uniform, non-linear, and unknown factors lead to uneven spraying of pesticides such as under-spraying or over-spraying

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  • Nonlinear control method of uncertainty system of plant protection machine spray rod position
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  • Nonlinear control method of uncertainty system of plant protection machine spray rod position

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Embodiment Construction

[0063] The present invention comprises the following steps:

[0064] Step 1) Carry out mathematical modeling on the electro-hydraulic servo system of the spray rod position of the plant protection machinery according to Newton's second law to obtain the dynamic model of load force:

[0065]

[0066] Among them, P 1 ,P 2 are the pressures of the two chambers of the hydraulic cylinder, A 1 ,A 2 is the effective area of ​​the two chambers, m is the load mass, x L is the piston displacement, is the acceleration of piston displacement, F v is the total friction force, F is the load force, Δ 1 is the sum of non-modelable friction force, uncertain load disturbance force, and external disturbance force;

[0067] The complex uncertain friction of the system is divided into Coulomb friction and viscous friction

[0068]

[0069] Consider the load force F as the spring damping force and a small unknown uncertainty d 1 ∈Δ 1 the sum of

[0070]

[0071] in, is the ...

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Abstract

Provided in the invention is a nonlinear control method of an uncertainty system of a plant protection machine spray rod position. The invention, which belongs to the field of the control technology of the large plant protection machinery, particularly relates to a nonlinear control method of an uncertainty system of a plant protection machine spray rod position. The method comprises: step one, mathematical modeling is carried out on a plant protection machine spray rod position electro-hydraulic servo system based on the Newton's second law to obtain a dynamical model of a loading force; steptwo, a hydraulic cylinder dynamic equation is written according to continuous characteristic of the flow; step three, a system state variable is defined based on a kinetic equation; and step four, aservo drive controller is designed.

Description

technical field [0001] The invention belongs to the technical field of control of large-scale plant protection machinery, and in particular relates to a nonlinear control method for an uncertain system of a spray rod position of a plant protection machine. Background technique [0002] With the rapid development of agriculture, crops will be affected by diseases and insect pests during the growth process, which will adversely affect the yield and growth quality of crops. However, when we do pest control work on crops in our country, there are problems of over-spraying and under-spraying of pesticides, which not only cannot effectively prevent and control crop pests and diseases, but also lead to waste of pesticides and pollution to the environment. Therefore, the development of precise boom position control of plant protection machines is of great significance to the control of crop diseases and insect pests. [0003] The position control of the spray boom of the plant prot...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李树江夏彬王向东赵柏山孙平
Owner SHENYANG POLYTECHNIC UNIV