Variable spraying control method, device and system

Abstract

The invention provides a variable spraying control method, device and system. The method comprises the steps: adjusting the real-time flow of a spraying nozzle according to the real-time pressure of the spraying nozzle through a pressure closed-loop fuzzy control method of feed-forward compensation until the error between the current pressure of the spraying nozzle and a target pressure is smaller than a first error threshold value; continuously adjusting the real-time flow of the spraying nozzle by using a real-time self-adaptive nozzle pressure and nozzle flow control method; and acquiring the real-time spray volume, and continuing to adjust the real-time flow of the spraying nozzle by adopting a spray volume control method based on the real-time spray volume feedback until the error between the adjusted real-time spray volume and a target spray volume is smaller than a second error threshold value. According to the variable spraying control method, device and system provided by the invention, the double-closed-loop double-fuzzy self-adaptive variable spraying control method is adopted, the influence of different pressure performance differences and the like of the nozzles on the spraying precision in the variable spraying operation process can be overcome, and the precision of the variable spraying control device is effectively improved.

Description

technical field [0001] The invention relates to the technical field of intelligent sprinkler irrigation, in particular to a variable spray control method, device and system. Background technique [0002] The amount of chemical solution in agricultural spraying operations is mainly determined by the spraying pressure. The national standard limits the flow pressure relationship of different types of nozzles, mainly under the condition of 0.3Mpa, the flow rate per minute is the nozzle model multiplied by 0.4 liters. [0003] Traditional spraying and liquid fertilizer spraying machines are prone to uneven spraying. The solution is to increase the amount of application, which not only results in low utilization rate, but also causes environmental pollution. In recent years, speed-based variable spraying, constant pressure spraying, and unmanned aerial vehicle spraying have developed rapidly, mainly based on the pressure control of the nozzle characteristics. Because the nozzles a...

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Problems solved by technology

[0005] The pressure is adjusted in real time through pressure feedback, and the adjustment method of non-calibration (that is, self-adaptation) operation is adopted. Since there is always an error in the calibration of the nozzle and pressure control, there is an error in the spraying amount per hectare (area spraying amount); the other The spraying control based on the flow sensor requires a high-precision flow sensor. The current turbine flowmeter has a large calculation error for the instantaneous flow. It needs to accumulate for a certain period of time before the flow is smooth before feedback. The control cycle is long, and the turbine flowmeter has an error under turbulent flow. great

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