Variable-spraying system flow tracking control method based on plant protection machine plunger pump pressure

Abstract

Provided is a variable-spraying system flow tracking control method based on plant protection machine plunger pump pressure. Based on a dynamical model and a flow characteristic model of a plant protection machine variable-spraying system, nonlinear factors of the spraying system are considered, and a state equation between the output pressure and flow of the plant protection machine variable-spraying system is established; based on the state equation, the difference of actual output flow and reference flow serves as a tracking error, an output flow controller of the plant protection machine variable-spraying system is designed, and asymptotic tracking of reference flow is achieved based on spraying flow; data is transmitted by adopting a CAN bus serial communication protocol, an STM32 single chip microcomputer is utilized to provide an output current signal for a plunger pump, and accordingly the output flow of a proportional pressure reducing valve is controlled by controlling the output pressure of the plunger pump. By adopting the method, spraying output flow of a plant protection machine can be accurately controller, the spraying efficiency of the plant protection machine is improved, and pesticide waste can be effectively decreased.

Description

Technical field: [0001] The invention relates to the field of agricultural intelligent machinery automation, in particular to an intelligent control method for a variable spraying system of a plant protection machine. Background technique: [0002] At present, the most common method of controlling diseases, insect pests and weeds is chemical treatment. However, during the control process, most of the liquid medicine is scattered in the air and deposited in the soil. It will enter the body of organisms, seriously threatening the safety of human life, and also pollute the environment. Therefore, the research on variable spraying plant protection machinery has certain theoretical significance and very strong practical value. [0003] Plant protection machines are widely used in modern crops. There have been many research results on the flow tracking control methods of plant protection machine variable spray systems. However, these control methods ignore the output pressure of ...

AI Technical Summary

Problems solved by technology

The variable spraying system of the plant protection machine studied by the present invention is a strong nonlinear system. So far, there is no flow tracking control method that combines the model of the plunger pump and the model of the proportional pressure reducing valve.

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