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Nonlinear control method for single pendulum spray rod suspension system of plant protection machine

A non-linear control, suspension system technology, applied in the direction of adaptive control, comprehensive factory control, comprehensive factory control, etc., can solve the problem of not considering loss and so on

Pending Publication Date: 2020-10-02
SHENYANG POLYTECHNIC UNIV
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Problems solved by technology

So far, the control method of the single pendulum boom suspension system of the plant protection machine has not considered the linearization process in the modeling process and the loss of the body after long-term use, so the linearization process in the modeling process and the It is of great significance to study nonlinear control methods that take into account the loss of the body after long-term use

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  • Nonlinear control method for single pendulum spray rod suspension system of plant protection machine
  • Nonlinear control method for single pendulum spray rod suspension system of plant protection machine
  • Nonlinear control method for single pendulum spray rod suspension system of plant protection machine

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Embodiment Construction

[0202] A nonlinear control method for a pendulum boom suspension system of a crop protection machine, characterized in that:

[0203] The method steps are as follows:

[0204] The first step is to collect real-time data of the spray boom of the plant protection machine; (actual parameters such as the position, height, and angle of the spray boom relative to the ground)

[0205] The second step is to input the data collected in the first step into the kinetic model;

[0206] The third step is to use the nonlinear controller based on Lyapunov theory to servo-control the angle of the boom suspension of the plant protection machine, and realize the servo tracking of the reference trajectory.

[0207] The mathematical model of the single pendulum boom suspension system of the plant protection machine was established; the output tracking controller was designed after fully considering the linearization process in the modeling process and the loss of the body after long-term use. P...

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Abstract

The invention discloses a nonlinear control method for a single pendulum spray rod suspension system of a plant protection machine. The method comprises the following steps: 1, collecting real-time data of a spray rod of the plant protection machine; 2, inputting the data acquired in the step 1 into a kinetic model; and 3, carrying out servo control on the angle of the plant protection machine spray rod suspension by utilizing a nonlinear controller based on a Lyapunov theory, so as to realize servo tracking on the reference trajectory. The designed spray rod angle tracking controller can enable the output angle of the system to track the ground gradient, enables the system to meet the requirement for the minimum secondary performance index, and has more practical use value compared with acontroller designed according to a nominal system model.

Description

Technical field: [0001] The invention relates to the control field of intelligent large-scale plant protection machinery, in particular to a control method for servo tracking of a single pendulum spray rod suspension system of the plant protection machine. Background technique: [0002] As the cornerstone of social development and progress, agricultural production has always played a pivotal role. Among them, crop protection is one of the important links in agricultural production. In order to meet the strict technical requirements of large-scale and precise modern plant protection, large-scale plant protection machinery has gradually been widely used. However, due to the serious lag in research on large-scale plant protection machinery in my country, which greatly restricts the development of modern plant protection in China, research on large-scale plant protection machinery is imperative. During the use of the plant protection machine, due to the complex and changeable ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418
CPCG05B13/042Y02P90/02
Inventor 李树江孔丽新王东佑
Owner SHENYANG POLYTECHNIC UNIV
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