Minimum error variable pesticide application control method and system

Abstract

A minimum error variable pesticide application control method and system provided by the invention comprises: acquiring a transfer function of a variable pesticide application control system; generating a flow rate control unit step response sequence according to the transfer function; constructing an open-loop error sequence of the variable pesticide application control system from startup to steady state according to an error between the flow rate unit step response sequence and an expected pesticide application amount; constructing a cumulative pesticide application error function of the system based on the open-loop error sequence; optimizing PID parameters of the variable pesticide application control system by using a reinforcement learning method to make a function value of the cumulative application error function be the smallest; and completing the PID adjustment control of a pesticide application process according to the PID parameters. According to the minimum error variablepesticide application control method and system provided in the embodiment of the invention, the PID parameters of the variable pesticide application control system are optimized by using the reinforcement learning method, so that a spraying flow rate error caused by the process of automatic opening of spraying when an unmanned aerial vehicle performs spraying is effectively reduced, and therebythe pesticide application uniformity of a field edge during the automatic spraying operation is improved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of agricultural informatization, and in particular to a method and system for controlling pesticide application with minimum error variable. Background technique [0002] In recent years, with the gradual improvement of mechanization and supporting planting technology, the development of agricultural machinery has provided great convenience for agricultural modernization. Among them, UAV-based operation tools provide efficient and convenient operation methods for agricultural modernization. [0003] Aerial spraying operations are an important means of modern agricultural plant protection operations. In the field of aerial pesticide application operations, precise pesticide application by drones is the future technological development trend. At present, small diaphragm pumps and pressure nozzles are usually installed on the spraying drone. According to the conditions of the crops, t...

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Problems solved by technology

[0005] The embodiment of the present invention provides a minimum error variable pesticide application control method and system to overcome the shortcomings of the prior art in the control of drone spraying, such as slow control speed and large spraying amount error at the moment of entering the field.

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