Flow tracking control method of variable spraying system based on plunger pump pressure of plant protection machine

Abstract

The flow tracking control method of the variable spray system based on the plunger pump pressure of the plant protection machine, based on the dynamic model and the flow characteristic model of the variable spray system of the plant protection machine, considering the nonlinear factors of the spray system, and establishing the relationship between the output pressure and the flow rate of the variable spray system of the plant protection machine State equation; based on the state equation, the difference between the actual output flow and the reference flow is used as the tracking error to design the output flow controller of the variable spraying system of the plant protection machine, so that the spray flow can achieve asymptotic tracking of the reference flow; using CAN bus serial communication The protocol transmits data, and the STM32 microcontroller is used to provide the output current signal to the plunger pump, and the output flow of the proportional pressure reducing valve is controlled by controlling the output pressure of the plunger pump. The control method can accurately control the spray output flow rate of the plant protection machine, improve the spray efficiency of the plant protection machine, and effectively reduce the waste of pesticides.

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 method of the plant protection machine variable spray system. However, these control methods ignore the output pressure o...

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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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