A method for optimizing a potassium-magnesium sulfate cooperative application mechanism

Abstract

This invention discloses a method for optimizing the synergistic application mechanism of potassium sulfate and magnesium, relating to the field of intelligent agricultural fertilization control. By collecting growth characteristic parameters such as the fruit weight gain rate and root distribution depth of mandarin oranges in real time, the method combines a T-S fuzzy model to calculate and dynamically adjust the fertilizer application rate, ensuring that the fertilizer application rate accurately matches the growth needs of the crop, avoiding over-fertilization or under-fertilization.

Description

TECHNICAL FIELD

[0001] The application relates to the field of intelligent agricultural fertilization control, and particularly relates to a potassium magnesium sulfate synergistic application mechanism optimization method. BACKGROUND

[0002] In modern agricultural production, fertilization technology has been one of the key links for improving crop yield and quality. Especially for fruit tree crops such as citrus, reasonable fertilization can not only ensure the normal growth of plants, but also improve the yield and quality of fruits. As an important compound fertilizer, potassium magnesium sulfate fertilizer is widely used to improve the supply of potassium and magnesium nutrients in soil, and it has significant effects on promoting fruit enlargement, improving fruit quality and enhancing the disease resistance and stress resistance of crops. However, in the process of applying potassium magnesium sulfate fertilizer, there are often problems of over-fertilization or insufficient fertilization, which is closely related to the precise control of fertilization amount.

[0003] Although the prior art has made certain progress in precise fertilization, there are still many defects, especially in the precision of fertilization amount control and real-time feedback adjustment capability. Traditional fertilization methods often rely on fixed fertilization formulas and soil test results, but these methods usually cannot timely reflect the dynamic changes of nutrients in the soil and the actual needs of crop growth. As a key compound fertilizer, potassium magnesium sulfate fertilizer plays an important role in the growth of fruit trees, but the control of its fertilization amount often lacks flexibility and timeliness, resulting in unstable fertilization effect.

[0004] The prior art lacks dynamic monitoring of key growth indicators such as root distribution depth and fruit weight gain rate. Root distribution depth is the basis for crop to absorb water and nutrients, and it directly affects the application effect of potassium magnesium sulfate fertilizer. However, traditional techniques usually only rely on soil nutrient detection and overall growth conditions of crops, without fully considering the influence of root distribution depth on fertilization effect. The dynamic changes of root distribution depth will directly affect the nutrient demand of crops, so neglecting this factor will lead to uneven fertilization amount, and even affect the normal growth of crops. SUMMARY

[0005] The application proposes a potassium magnesium sulfate synergistic application mechanism optimization method, which introduces a single inverted pendulum model combined with a T-S fuzzy logic model, so that the fertilization amount can accurately match the growth needs of crops, avoiding over-fertilization or insufficient fertilization.

[0006] The potassium magnesium sulfate synergistic application mechanism optimization method comprises the following steps:

[0007] S1. Collecting characteristic parameters of soil and citrus growth, and performing normalization processing on the characteristic parameters, wherein the characteristic parameters of soil are root distribution depth, and the characteristic parameters of citrus growth are fruit weight gain rate;

[0008] S2. Based on the collected characteristic parameters, a single-stage inverted pendulum model is used to perform relationship mapping. Using root distribution depth and fruit weight gain rate as input, combined with the TS model, the corresponding fertilizer application rate is output.

[0009] S3 according to the output of the TS model, adjust the control fertilizer amount, and real-time collection of new soil and Wogan growth characteristic parameters as new model input, TS model based on the iterative input of new soil and Wogan growth characteristic parameters, real-time update fertilizer amount;

[0010] Wherein, the step S2 specifically includes the following sub-steps:

[0011] S201. According to the angle and angular velocity of the inverted pendulum in the single-stage inverted pendulum physical model, the input characteristic parameters are mapped, the angle of the inverted pendulum corresponds to the deviation of the growth of Wogan, the angular velocity corresponds to the growth rate of Wogan;

[0012] S202. Constructing fuzzy rules for root distribution depth and fruit weight gain rate based on the mapping relationship;

[0013] S203. Setting the membership function of the angle and angular velocity to quantify the fuzzy rules;

[0014] S204. Calculate fertilizer application rate using the TS model based on root distribution depth and fruit weight gain rate.

[0015] Furthermore, in step S201, the input characteristic parameters are specifically mapped using a mapping function, including a mapping relationship between the root distribution depth and the inverted pendulum angle and a mapping relationship between the fruit weight gain rate and the inverted pendulum angular velocity.

[0016] Furthermore, the mapping relationship between the root distribution depth and the inverted pendulum angle and the mapping relationship between the fruit weight gain rate and the inverted pendulum angular velocity are specifically as follows:

[0017] ;

[0018]

[0019] Among them, the Indicates the root distribution depth, represents the system parameter that controls the sensitivity of the root distribution depth to the change of the inverted pendulum angle. represents the nonlinear adjustment coefficient that controls the rate at which the root distribution depth changes with angle. and are offset parameters for adjusting the root distribution depth and fruit weight gain rate, respectively. represents an angle of an inverted pendulum model, used to reflect a degree of deviation of plant growth from a balanced state, i.e., a degree of deviation of citrus growth; the represents a rate of increase of fruit weight, the represents a system parameter for controlling sensitivity of the rate of increase of fruit weight to change in angular velocity, the represents a nonlinear adjustment coefficient for controlling a rate of change of the rate of increase of fruit weight with angular velocity, the represents an angular velocity in the inverted pendulum model, used to reflect a rate in the process of plant growth, i.e., a rate of citrus growth.

[0020] Further, in the step S202, the fuzzy rule is specifically as follows:

[0021] Rule 1: If the degree of deviation of citrus growth is greater than a set angle threshold interval and the rate of citrus growth is less than a set angular velocity threshold interval, the amount of fertilization is unchanged.

[0022] Rule 2: If the degree of deviation of citrus growth is greater than a set angle threshold interval and the rate of citrus growth is greater than a set angular velocity threshold interval, the amount of fertilization is increased.

[0023] Rule 3: If the degree of deviation of citrus growth is less than a set angle threshold interval and the rate of citrus growth is less than a set angular velocity threshold interval, the amount of fertilization is decreased.

[0024] Rule 4: If the degree of deviation of citrus growth is less than a set angle threshold interval and the rate of citrus growth is greater than a set angular velocity threshold interval, the amount of fertilization is unchanged.

[0025] Rule 5: If the degree of deviation of citrus growth is in a set angle threshold interval and the rate of citrus growth is greater than a set angular velocity threshold interval, the amount of fertilization is increased.

[0026] Rule 6: If the degree of deviation of citrus growth is in a set angle threshold interval and the rate of citrus growth is less than a set angular velocity threshold interval, the amount of fertilization is decreased.

[0027] Rule 7: If the degree of deviation of citrus growth is in a set angle threshold interval and the rate of citrus growth is in a set angular velocity threshold interval, the amount of fertilization is unchanged.

[0028] Rule 8: If the degree of deviation of citrus growth is greater than a set angle threshold interval and the rate of citrus growth is in a set angular velocity threshold interval, the amount of fertilization is increased.

[0029] Rule 9: If the degree of deviation of citrus growth is less than a set angle threshold interval and the rate of citrus growth is in a set angular velocity threshold interval, the amount of fertilization is decreased.

[0030] Further, in the step S203, the membership function of the angle specifically includes the following form:

[0031] When the angle is less than the set angle threshold interval, the plant growth is balanced, and a low-slope triangular membership function is established;

[0032] When the angle is in the set angle threshold interval, the plant growth deviates from the balanced state moderately, and a trapezoidal membership function is established;

[0033] When the angle is greater than the set angle threshold interval, the plant growth deviates greatly, and a high-slope triangular membership function is established.

[0034] Further, the membership function of the angular velocity in step S203 specifically includes the following form:

[0035] When the angular velocity is less than the set angular velocity threshold interval, it indicates that the plant growth rate is slow, and a low-slope triangular membership function is established;

[0036] When the angular velocity is in the set angular velocity threshold interval, it indicates that the plant growth rate is moderate, and a trapezoidal membership function is established;

[0037] When the angular velocity is greater than the set angular velocity threshold interval, it indicates that the plant growth rate is fast, and a high-slope triangular membership function is established.

[0038] Further, the low-slope triangular membership function of the angle is specifically represented as:

[0039] For the low-slope triangular membership function of the angle, that is:

[0040] ;

[0041] Wherein, the represents a small-angle membership function, the represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of the plant growth from the balanced state, i.e., the growth deviation degree of the citrus, and the represents the maximum value of the small angle, i.e., when the angle is below this value, the value of the membership function is 1;

[0042] For the low-slope triangular membership function of the angular velocity, that is:

[0043] ;

[0044] Wherein, the represents a slow angular velocity membership function, the represents the angular velocity in the inverted pendulum model, which is used to reflect the rate in the plant growth process, i.e., the growth rate of the citrus, and the represents the upper limit value of the angular velocity, and the membership is 1 when the angular velocity is less than or equal to this value.

[0045] Further, the trapezoidal membership function is specifically represented as:

[0046] For the trapezoidal membership function of the angle, that is:

[0047] ;

[0048] Wherein, the represents the medium angle membership function, the represents the angle of the inverted pendulum model, which is used to reflect the degree of the plant growth loading deviating from the equilibrium state, i.e. the degree of the growth deviation of the citrus, the represents the lower limit value of the medium angle interval, the represents the upper limit value of the medium angle interval, the represents the high value of the angle, and the membership is 0 when the angle exceeds this value;

[0049] For the trapezoidal membership function of the angular velocity, that is:

[0050] ;

[0051] Wherein, the represents the medium angular velocity membership function, the represents the angular velocity in the inverted pendulum model, which is used to reflect the rate in the plant growth process, i.e. the growth rate of the citrus, the represents the lower limit value of the medium rate, the represents the upper limit value of the medium rate, the represents the maximum value of the rate, and the membership is 0 when the angular velocity exceeds this value.

[0052] Further, the high slope triangular membership function is specifically represented as:

[0053] For the high slope triangular membership function of the angular velocity, that is:

[0054] ;

[0055] Wherein, the represents the large angle membership function, the represents the starting value of the high angle interval, the represents the maximum value of the large angle, and the membership is 1 when the angle exceeds this value, the represents the angle of the inverted pendulum model, which is used to reflect the degree of the plant growth loading deviating from the equilibrium state, i.e. the degree of the growth deviation of the citrus;

[0056] For the high slope triangular membership function of the angle, that is:

[0057] ;

[0058] wherein the represents a fast angular velocity membership function, the represents an angular velocity in the inverted pendulum model, used to reflect the rate in the plant growth process, i.e., the growth rate of the citrus, the represents a maximum value of the fast angular velocity, when the angular velocity exceeds the value, the membership is 1, the represents a threshold value of the angular velocity.

[0059] Further, in the step S204, the fertilizer application amount is calculated by the T-S model, and is specifically represented as:

[0060] ;

[0061] wherein the represents, the represents a membership function value of the angle and the angular velocity corresponding to the i-th fuzzy rule at a time t, the i represents an index of the number of fuzzy rules, the represents an angular velocity in the inverted pendulum model, used to reflect the rate in the plant growth process, i.e., the growth rate of the citrus, the represents an angle of the inverted pendulum model, used to reflect the degree of the plant growth deviating from the equilibrium state, i.e., the growth deviation degree of the citrus.

[0062] The beneficial effects of the application are:

[0063] The application collects the growth characteristic parameters such as the fruit weight gain rate and the root system distribution depth of the citrus in real time, calculates and dynamically adjusts the fertilizer application amount by combining the T-S fuzzy model, so that the fertilizer application amount can accurately match the growth demand of the crops, and over-fertilization or insufficient fertilization is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0064] Figure 1 A method flowchart of a potassium sulfate and magnesium synergistic application mechanism optimization method provided by the embodiment of the application. DETAILED DESCRIPTION

[0065] The technical solutions of the application will be further described in detail below with reference to the drawings, but the protection scope of the application is not limited to the following description.

[0066] In order to make the purpose, technical solutions and advantages of the application clearer and more understandable, the application is further described in detail in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application, and are not used to limit the application, that is, the described embodiments are only a part of the embodiments of the application, but not all the embodiments. The components of the embodiments of the application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0067] Therefore, the following detailed description of the embodiments of the application provided in the drawings is not intended to limit the scope of the application claimed, but merely represents selected embodiments of the application. Based on the embodiments of the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the application. It should be noted that the relational terms such as "first" and "second" and the like are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations.

[0068] Moreover, the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or mechanical device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or mechanical device. Without more limitations, the element defined by the phrase "including a" does not exclude the presence of additional identical elements in the process, method, article or mechanical device including the element.

[0069] The features and performances of the application are further described in detail below in conjunction with the embodiments.

[0070] Among them, as Figure 1 A method for optimizing the mechanism of potassium magnesium sulfate application, characterized in that it comprises the following steps:

[0071] S1. Collecting the characteristic parameters of soil and the growth of valencia orange, and normalizing the characteristic parameters, the characteristic parameters of soil being root distribution depth, and the characteristic parameters of the growth of valencia orange being fruit weight gain rate;

[0072] S2. According to the collected characteristic parameters, combining the single inverted pendulum model to perform relationship mapping, and taking the root distribution depth and the fruit weight gain rate as inputs, combining the T-S model, outputting the corresponding fertilizer application amount;

[0073] S3. According to the output result of the T-S model, adjusting the control of the fertilizer application amount, and collecting new soil and valencia orange growth characteristic parameters as new model inputs in real time, the T-S model updating the fertilizer application amount in real time according to the iterative input of the new soil and valencia orange growth characteristic parameters;

[0074] Among them, the step S2 specifically comprises the following substeps:

[0075] S201. According to the angle and angular velocity of the inverted pendulum in the single inverted pendulum physical model, the input characteristic parameters are mapped, the angle of the inverted pendulum corresponding to the valencia orange growth deviation, and the angular velocity corresponding to the valencia orange growth rate;

[0076] S202. Constructing fuzzy rules for root distribution depth and fruit weight gain rate based on the mapping relationship;

[0077] S203. Setting the membership function of the angle and angular velocity to quantify the fuzzy rules;

[0078] S204. Calculate fertilizer application rate using the TS model based on root distribution depth and fruit weight gain rate.

[0079] Furthermore, in step S201, the input characteristic parameters are specifically mapped using a mapping function, including a mapping relationship between the root distribution depth and the inverted pendulum angle and a mapping relationship between the fruit weight gain rate and the inverted pendulum angular velocity.

[0080] Specifically, the root distribution depth (i.e., "growth deviation") reflects the vertical distribution of plant roots in the soil. The root depth is closely related to the plant's water absorption capacity, nutrient absorption capacity, and ability to adapt to the environment. A shallow root distribution depth means that the plant is in a restricted area of ​​soil resources, and the roots fail to grow downward sufficiently, which may cause the plant to have difficulty absorbing water and nutrients. The growth rate (fruit weight gain rate) reflects the speed of plant growth, especially fruit development. The fruit weight gain rate is an important growth indicator, representing the weight increase of the plant's fruit over a certain period of time. It is usually closely related to the plant's nutrient absorption, metabolic capacity, and environmental conditions.

[0081] Furthermore, the mapping relationship between the root distribution depth and the inverted pendulum angle and the mapping relationship between the fruit weight gain rate and the inverted pendulum angular velocity are specifically as follows:

[0082] ;

[0083]

[0084] Among them, the Indicates the root distribution depth, represents the system parameter that controls the sensitivity of the root distribution depth to the change of the inverted pendulum angle. represents the nonlinear adjustment coefficient that controls the rate at which the root distribution depth changes with angle. and are offset parameters for adjusting the root distribution depth and fruit weight gain rate, respectively. It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the growth deviation of the mandarin orange; Represents the fruit weight gain rate, represents the system parameter that controls the sensitivity of the fruit weight gain rate to the change of the inverted pendulum angular velocity. represents the nonlinear adjustment coefficient for controlling the rate at which the fruit weight gain rate changes with the angular velocity, It represents the angular velocity in the inverted pendulum model and is used to reflect the rate of plant growth, i.e., the growth rate of Wogan.

[0085] Specifically, the inverted pendulum is a typical physical system often used to describe objects with unstable equilibrium (for example, the equilibrium state of a plant during growth). In this model, the plant's "growth deviation" corresponds to the angle of the inverted pendulum, indicating the degree to which the plant's root and fruit growth deviates from equilibrium. The root distribution depth reflects the depth of root penetration in the soil, affecting the plant's ability to absorb water and nutrients. The deeper the root system, the greater the deviation angle of the mandarin orange's growth state (i.e., growth deviation). A specific mapping function (e.g., a linear or nonlinear relationship) is used to convert the root distribution depth into an angle in the inverted pendulum model. Furthermore, fruit weight gain rate is an important indicator of fruit growth and directly affects the plant's growth rate. A greater fruit weight gain rate increases the growth rate (i.e., the angular velocity of the inverted pendulum), resulting in a change in angular velocity. A mapping function (e.g., a linear or nonlinear relationship) is used to convert the fruit weight gain rate into the angular velocity in the inverted pendulum model.

[0086] Furthermore, in step S202, the fuzzy rules are specifically:

[0087] Rule 1: If the deviation of the orange's growth is greater than the set angle threshold and the orange's growth rate is less than the set angular velocity threshold, the fertilizer amount remains unchanged.

[0088] Rule 2: If the deviation of the orange's growth is greater than the set angle threshold and the orange's growth rate is greater than the set angular velocity threshold, then the amount of fertilizer applied is increased.

[0089] Rule 3: If the deviation of the orange's growth is less than the set angle threshold and the orange's growth rate is less than the set angular velocity threshold, the amount of fertilizer applied is reduced.

[0090] Rule 4: If the deviation of the orange's growth is less than the set angle threshold and the orange's growth rate is greater than the set angular velocity threshold, the fertilizer amount remains unchanged.

[0091] Rule 5: If the deviation of the orange's growth is within the set angle threshold range and the orange's growth rate is greater than the set angular velocity threshold range, then the amount of fertilizer applied is increased;

[0092] Rule 6: If the deviation of the orange's growth is within the set angle threshold range and the orange's growth rate is less than the set angular velocity threshold range, the amount of fertilizer applied is reduced;

[0093] Rule 7: If the growth deviation of the citrus is within the set angular threshold interval and the growth rate of the citrus is within the set angular velocity threshold interval, the fertilizer amount remains unchanged.

[0094] Rule 8: If the growth deviation of the citrus is greater than the set angular threshold interval and the growth rate of the citrus is within the set angular velocity threshold interval, the fertilizer amount is increased.

[0095] Rule 9: If the growth deviation of the citrus is less than the set angular threshold interval and the growth rate of the citrus is within the set angular velocity threshold interval, the fertilizer amount is decreased.

[0096] Specifically, fuzzy logic is a mathematical tool for handling uncertainty and ambiguity, which is applicable in plant growth optimization. Through fuzzy logic, complex and uncertain growth conditions such as root depth and fruit weight gain rate changes are modeled, and the corresponding fertilizer amount is output. According to the root distribution depth and the fruit weight gain rate (the angle and angular velocity of the inverted pendulum model), a set of fuzzy rules is formulated, which reflects the relationship between the growth state of the citrus and the fertilizer amount.

[0097] Further, when the root distribution depth is large, the growth of the plant is generally stable, as deep root systems can effectively absorb water and nutrients, especially in drought or fertilizer scarcity conditions, deep root systems play an important role. At this time, the plant can usually maintain a strong growth rate and has a higher demand for fertilizer. At this time, fertilization usually has good results, because the root system can effectively absorb the nutrients in the deep soil, and the fertilizer amount can be appropriately increased according to the growth needs of the plant. When the root distribution depth is shallow, the growth state of the plant is relatively unstable. Shallow root system means that the plant is limited in the absorption of soil water and nutrients, leading to poor growth and large growth deviation, and the root system cannot penetrate the soil, which may cause the plant to be easily affected by external environmental changes, such as drought, pests and diseases, etc. At this time, excessive fertilization may not directly improve the growth of the plant. Because the root system has weak absorption capacity, excessive fertilization may lead to ineffective absorption of nutrients, and even may accumulate in the soil, leading to salt damage or high soil salt concentration, which is not conducive to the health of the plant.

[0098] In addition, when the fruit weight gain rate is high, it indicates that the plant's metabolic rate is fast, especially the growth rate of the fruit is accelerated. This usually indicates that the plant needs more nutrients to support its rapid growth, especially during the fruit enlargement period, the demand for nitrogen, phosphorus, potassium and other elements increases. At this time, the amount of fertilizer should be appropriately increased to meet the plant's demand for nutrients during rapid growth. Especially nitrogen fertilizer, which directly promotes plant growth and fruit enlargement. The increase in the amount of fertilizer helps plants maintain a high weight gain rate by increasing the concentration of available nutrients in the soil. Fertilization at this time not only helps to increase the weight gain rate of the fruit, but also avoids growth stagnation due to nutrient deficiency. Reasonable fertilization can also promote photosynthesis of plants, thereby further increasing the weight gain rate of the fruit.

[0099] When the fruit weight gain rate is low, it indicates that the growth rate of the plant is slow, and the fruit enlargement process is limited. At this time, the plant may be in the recovery period of growth, encounter environmental stress (such as water shortage, pests and diseases, etc.) or have weak root absorption capacity. In the case of low fruit weight gain rate, increasing the amount of fertilizer may not have a positive effect on fruit growth. The plant's ability to absorb fertilizer is limited, and too much fertilizer may not be effectively absorbed, and even may accumulate in the soil, causing salt damage and other negative effects. At this time, the amount of fertilizer should be controlled within an appropriate range and should not be blindly increased. Too much fertilizer will not promote fruit weight gain, but may exacerbate the plant's stress response, affect its root growth, and ultimately lead to low fertilizer efficiency.

[0100] Further, in the step S203, the membership function of the angle specifically includes the following form:

[0101] When the angle is less than the set angle threshold interval, the plant growth is balanced, and a low-slope triangular membership function is established;

[0102] When the angle is in the set angle threshold interval, the degree of plant growth deviation from balance is moderate, and a trapezoidal membership function is established;

[0103] When the angle is greater than the set angle threshold interval, the plant growth deviates greatly, and a high-slope triangular membership function is established.

[0104] Further, in the step S203, the membership function of the angle velocity specifically includes the following form:

[0105] When the angular velocity is less than the set angular velocity threshold interval, it indicates that the plant growth rate is slow, and a low-slope triangular membership function is established;

[0106] When the angular velocity is in the set angular velocity threshold interval, it indicates that the plant growth rate is moderate, and a trapezoidal membership function is established;

[0107] When the angular velocity is greater than the set angular velocity threshold interval, it indicates that the plant growth speed is fast, and a high-slope triangular membership function is established.

[0108] Further, the low-slope triangular membership function is specifically represented as:

[0109] For the low-slope triangular membership function of the angle, that is:

[0110] ;

[0111] Wherein, the represents a small-angle membership function, the represents the angle of the inverted pendulum model, used to reflect the degree of deviation of the plant growth from the equilibrium state, i.e., the degree of deviation of the citrus growth, the represents the maximum value of the small angle, i.e., when the angle is below this value, the value of the membership function is 1;

[0112] For the low-slope triangular membership function of the angular velocity, that is:

[0113] ;

[0114] Wherein, the represents a slow angular velocity membership function, the represents the angular velocity in the inverted pendulum model, used to reflect the rate during the plant growth, i.e., the rate of the citrus growth, the represents the upper limit value of the angular velocity, and the membership is 1 when the angular velocity is less than or equal to this value.

[0115] Specifically, the definition of the membership function in the above embodiment is set according to the balance of the plant growth. For example, when the angle or the angular velocity is small, it means that the growth of the plant is stable or slow, and therefore the membership is close to 1. As the angle or the angular velocity increases, the membership gradually decreases, indicating that when the plant growth deviates from the balance or the rate increases, the fertilizer amount needs to be adjusted.

[0116] Further, the trapezoidal membership function is specifically represented as:

[0117] For the trapezoidal membership function of the angle, that is:

[0118] ;

[0119] Wherein, the represents a medium-angle membership function, the represents the angle of the inverted pendulum model, used to reflect the degree of deviation of the plant growth from the equilibrium state, i.e., the degree of deviation of the citrus growth, the represents the lower limit value of the medium-angle interval, and the represents the upper limit value of the medium angle interval, the represents the high value of the angle, when the angle exceeds this value, the membership is 0;

[0120] for the trapezoidal membership function of the angular velocity, that is:

[0121] ;

[0122] wherein the represents the medium angular velocity membership function, the represents the angular velocity in the inverted pendulum model, used to reflect the rate in the plant growth process, that is, the growth rate of the citrus, the represents the lower limit value of the medium rate, the represents the upper limit value of the medium rate, the represents the maximum value of the rate, when the angular velocity exceeds this value, the membership is 0.

[0123] Specifically, the trapezoidal membership function is used to represent the case that the plant growth rate and the deviation degree from the balance are moderate. The membership is higher in a certain range, and the membership decreases rapidly when the angle or the angular velocity exceeds this range. The above embodiment is used to capture the changes in the plant growth process and adjust the fertilization strategy in time.

[0124] Further, the high slope triangular membership function is specifically represented as:

[0125] for the high slope triangular membership function of the angular velocity, that is:

[0126] ;

[0127] wherein the represents the large angle membership function, the represents the starting value of the high angle interval, the represents the maximum value of the large angle, when the angle exceeds this value, the membership is 1, the represents the angle of the inverted pendulum model, used to reflect the degree of deviation from the balance state of the plant growth, that is, the growth deviation degree of the citrus;

[0128] for the high slope triangular membership function of the angle, that is:

[0129] ;

[0130] wherein the represents the fast angular velocity membership function, the represents the angular velocity in the inverted pendulum model, used to reflect the rate in the plant growth process, that is, the growth rate of the citrus, the represents the maximum value of the angular velocity, and the membership degree is 1 when the angular velocity exceeds the value, the represents the threshold value of the angular velocity.

[0131] Specifically, the high-slope triangular membership function represents a situation where the deviation is large or the growth rate is fast in the plant growth process, which means that more or less fertilizer needs to be added to meet the growth needs of the plant.

[0132] Specifically, the membership function is used to convert the angle and angular velocity into fuzzy values, representing the membership degrees of these values in different ranges, reflecting different stages of the plant growth state. The low-slope triangular membership function represents the situation when the plant growth is balanced (small angle), and the growth deviation of the plant is small when the angle is less than the preset threshold value, and the membership degree gradually decreases as the angle increases. The trapezoidal membership function represents a situation where the growth deviation is moderate, and the membership degree remains high within a certain range when the angle is in the medium range. The high-slope triangular membership function represents a situation where the plant growth deviates from the balance (large angle), and the membership degree decreases rapidly. The angular velocity membership function is similar to the angle membership function, and the angular velocity also has three main states: slow (low-slope triangular membership function), moderate (trapezoidal membership function), and fast (high-slope triangular membership function). Through these membership functions, the system can quantify the fuzziness of the angle and angular velocity, and then perform fuzzy reasoning to obtain the fuzzy output corresponding to each rule, i.e., the fertilizer amount adjustment.

[0133] Further, the step S204 of calculating the fertilizer amount by the T-S model is specifically represented as:

[0134] ;

[0135] wherein the represents the represents the membership function value of the angle and angular velocity corresponding to the i-th fuzzy rule at a certain time t, the i represents the index of the number of fuzzy rules, and the represents the angular velocity in the inverted pendulum model, which is used to reflect the rate in the plant growth process, i.e., the growth rate of the citrus, and the represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation from the balanced state in the plant growth process, i.e., the growth deviation of the citrus.

[0136] Specifically, the T-S model (Takagi-Sugeno model) is a reasoning model based on fuzzy rules, which can model complex nonlinear systems. In the above embodiment, the T-S model combines fuzzy rules with membership functions to output the fertilizer amount. Rule output: Each fuzzy rule produces a weighted fertilizer output, which is calculated by the relationship between the membership function value of the fuzzy rule and the fertilizer amount. Weighted average: The output results of all rules are weighted and averaged according to the membership value of each rule. The higher the membership value of each rule, the greater the contribution to the fertilizer amount. Adjustment of fertilizer amount: According to the output result of the T-S model, the control system adjusts the fertilizer amount in real time. By inputting the root distribution depth, fruit weight gain rate, and angle and angular velocity in the inverted pendulum model, the system can intelligently calculate the optimal fertilizer amount at each time point.

[0137] The above description is only preferred embodiments of the present application, and it should be understood that the present application is not limited to the forms disclosed herein, and should not be considered as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concepts described herein by the above teachings or related art or knowledge. Any modification and change made by those skilled in the art without departing from the spirit and scope of the present application shall be within the protection scope of the claims of the present application.

Claims

1. A method for optimizing the mechanism of coordinated application of potassium and magnesium sulfate, characterized in that: The following steps are involved: S1. Collect characteristic parameters of soil and Wogan growth, and normalize the characteristic parameters. The characteristic parameter of the soil is the root distribution depth, and the characteristic parameter of the Wogan growth is the fruit weight gain rate; S2. Based on the collected characteristic parameters, a single-stage inverted pendulum model is used to perform relationship mapping. Using root distribution depth and fruit weight gain rate as input, combined with the TS model, the corresponding fertilizer application rate is output. S3 according to the output of the TS model, adjust the control fertilizer amount, and real-time collection of new soil and Wogan growth characteristic parameters as new model input, TS model based on the iterative input of new soil and Wogan growth characteristic parameters, real-time update fertilizer amount; Wherein, the step S2 specifically includes the following sub-steps: S201. According to the angle and angular velocity of the inverted pendulum in the single-stage inverted pendulum physical model, the input characteristic parameters are mapped, the angle of the inverted pendulum corresponds to the deviation of the growth of Wogan, the angular velocity corresponds to the growth rate of Wogan; S202. Constructing fuzzy rules for root distribution depth and fruit weight gain rate based on the mapping relationship; S203. Setting the membership function of the angle and angular velocity to quantify the fuzzy rules; S204. The amount of fertilizer is calculated by the TS model based on the root distribution depth and fruit weight gain rate; In step S201, the input characteristic parameters are specifically mapped using a mapping function, including a mapping relationship between the root distribution depth and the inverted pendulum angle and a mapping relationship between the fruit weight gain rate and the inverted pendulum angular velocity; The mapping relationship between the root distribution depth and the inverted pendulum angle and the mapping relationship between the fruit weight gain rate and the inverted pendulum angular velocity are specifically as follows: ； ； Among them, the Indicates the root distribution depth, represents the system parameter that controls the sensitivity of the root distribution depth to the change of the inverted pendulum angle. represents the nonlinear adjustment coefficient that controls the rate at which the root distribution depth changes with angle. and are offset parameters for adjusting the root distribution depth and fruit weight gain rate, respectively. It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the growth deviation of the mandarin orange; Represents the fruit weight gain rate, represents the system parameter that controls the sensitivity of the fruit weight gain rate to the change of the inverted pendulum angular velocity. represents the nonlinear adjustment coefficient for controlling the rate at which the fruit weight gain rate changes with the angular velocity, It represents the angular velocity in the inverted pendulum model and is used to reflect the rate of plant growth, i.e., the growth rate of Wogan.

2. A method for optimizing the coordinated application mechanism of potassium and magnesium sulfate according to claim 1, characterized in that: In step S202, the fuzzy rules are specifically: Rule 1: If the deviation of the orange's growth is greater than the set angle threshold and the orange's growth rate is less than the set angular velocity threshold, the fertilizer amount remains unchanged. Rule 2: If the deviation of the orange's growth is greater than the set angle threshold and the orange's growth rate is greater than the set angular velocity threshold, then the amount of fertilizer applied is increased. Rule 3: If the deviation of the orange's growth is less than the set angle threshold and the orange's growth rate is less than the set angular velocity threshold, the amount of fertilizer applied is reduced. Rule 4: If the deviation of the orange's growth is less than the set angle threshold and the orange's growth rate is greater than the set angular velocity threshold, the fertilizer amount remains unchanged. Rule 5: If the deviation of the orange's growth is within the set angle threshold range and the orange's growth rate is greater than the set angular velocity threshold range, then the amount of fertilizer applied is increased; Rule 6: If the deviation of the orange's growth is within the set angle threshold range and the orange's growth rate is less than the set angular velocity threshold range, the amount of fertilizer applied is reduced; Rule 7: If the deviation of the orange's growth is within the set angle threshold range and the orange's growth rate is within the set angular velocity threshold range, the fertilizer amount remains unchanged; Rule 8: If the deviation of the orange's growth is greater than the set angle threshold range and the orange's growth rate is within the set angular velocity threshold range, then the amount of fertilizer applied is increased; Rule 9: If the deviation of the Wogan growth is less than the set angle threshold range and the Wogan growth rate is within the set angular velocity threshold range, the amount of fertilizer applied is reduced.

3. A method for optimizing the coordinated application mechanism of potassium and magnesium sulfate according to claim 1, characterized in that: In step S203, the angle membership function specifically includes the following form: When the angle is less than the set angle threshold interval, the plant's growth is balanced, and a low-slope triangle membership function is established; When the angle is within the set angle threshold range, the degree of plant growth deviation from equilibrium is moderate, and a trapezoidal membership function is established; When the angle is greater than the set angle threshold interval, the plant growth deviation is large, and a triangle membership function with a high slope is established.

4. A method for optimizing the coordinated application mechanism of potassium and magnesium sulfate as claimed in claim 3, characterized in that: In step S203, the membership function of the angular velocity specifically includes the following form: When the angular velocity is less than the set angular velocity threshold range, it means that the plant grows slowly, and a low-slope triangular membership function is established; When the angular velocity is within the set angular velocity threshold range, it means that the plant growth rate is moderate, and a trapezoidal membership function is established; When the angular velocity is greater than the set angular velocity threshold range, it means that the plant grows fast, and a triangular membership function with a high slope is established.

5. A method for optimizing the coordinated application mechanism of potassium and magnesium sulfate according to claim 4, characterized in that: The low-slope triangle membership function is specifically expressed as: For the triangle membership function with low slope of angle, that is: ； Among them, the represents the small angle membership function, It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the growth deviation of the mandarin orange. Indicates the maximum value of a small angle, that is, when the angle is below this value, the value of the membership function is 1; For the low-slope triangular membership function of angular velocity, that is: ； Among them, the represents the slow angular velocity membership function, Represents the angular velocity in the inverted pendulum model, which is used to reflect the rate of plant growth, that is, the growth rate of the mandarin orange. Indicates the upper limit of angular velocity. When the angular velocity is less than or equal to this value, the membership is 1.

6. A method for optimizing the coordinated application mechanism of potassium and magnesium sulfate according to claim 4, characterized in that: The trapezoidal membership function is specifically expressed as: For the trapezoidal membership function of the angle, that is: ； Among them, the represents the medium angle membership function, It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the growth deviation of the mandarin orange. Indicates the lower limit of the medium angle range, Indicates the upper limit of the medium angle range, Indicates the high value of the angle. When the angle exceeds this value, the membership is 0; For the trapezoidal membership function of angular velocity, that is: ； Among them, the represents the medium angular velocity membership function, Represents the angular velocity in the inverted pendulum model, which is used to reflect the rate of plant growth, that is, the growth rate of the mandarin orange. Indicates the lower limit of the medium rate. Indicates the upper limit of the medium rate. Indicates the maximum value of the rate. When the angular velocity exceeds this value, the membership is 0.

7. A method for optimizing the coordinated application mechanism of potassium and magnesium sulfate according to claim 4, characterized in that: The high-slope triangle membership function is specifically expressed as: For the high slope triangular membership function of angular velocity, that is: ； Among them, the represents the large angle membership function, Indicates the starting value of the high angle interval, Indicates the maximum value of the large angle. When the angle exceeds this value, the membership is 1. It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the growth deviation of Wogan; For a triangle with a high slope, the membership function is: ； Among them, the represents the fast angular velocity membership function, Represents the angular velocity in the inverted pendulum model, which is used to reflect the rate of plant growth, that is, the growth rate of the mandarin orange. Indicates the maximum value of the fast angular velocity. When the angular velocity exceeds this value, the membership is 1. Indicates the threshold value of angular velocity.

8. A method for optimizing the coordinated application mechanism of potassium and magnesium sulfate according to claim 1, characterized in that: In step S204, the amount of fertilizer to be applied is calculated using the TS model as follows: ； Among them, the Indicates that represents the membership function value of the angle and angular velocity corresponding to the i-th fuzzy rule at a certain time t, where i represents the number index of the fuzzy rule, Represents the angular velocity in the inverted pendulum model, which is used to reflect the rate of plant growth, that is, the growth rate of the mandarin orange. It represents the angle of the inverted pendulum model, which is used to reflect the degree to which the plant growth deviates from the equilibrium state, that is, the growth deviation of the mandarin orange.

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