Electromagnetic valve control system and method for agricultural irrigation

Abstract

The invention provides an electromagnetic valve control system and method for agricultural irrigation, and relates to the technical field of electromagnetic valve control, and the method comprises the steps: determining a lag fault-tolerant point when an electromagnetic valve for controlling an irrigation nozzle generates control lag during agricultural irrigation according to the actual condition information and control state data of the electromagnetic valve; performing coordinated correction on the action time of the electromagnetic valve based on the action limit interval and the irrigation spraying amount to obtain a coordinated correction characteristic when the electromagnetic valve for controlling the irrigation nozzle generates control lag during agricultural irrigation, and determining a control fitting threshold when the electromagnetic valve performs irrigation spraying control at different action time according to the coordinated correction characteristic; and fault-tolerant control is carried out on an electromagnetic valve for controlling an irrigation nozzle during agricultural irrigation according to the action feedback deviation. The action feedback of the electromagnetic valve can be monitored in real time in the control process of the electromagnetic valve, the control lag is recognized and corrected, accurate coordination correction is carried out, the control parameters of the electromagnetic valve are dynamically adjusted, and the control stability of the irrigation system is improved.

Description

Technical Field

[0001] The present application relates to the technical field of solenoid valve control, and more specifically, to a solenoid valve control system and method for agricultural irrigation. Background Art

[0002] Solenoid valve control systems are mainly used to regulate water flow in agricultural irrigation. By opening and closing the solenoid valve, the on and off of the water flow is accurately controlled, thereby achieving precise control of the irrigation nozzle. The solenoid valve consists of a solenoid coil and a valve body. When the solenoid coil is energized, a magnetic field is generated to drive the valve body to move, thereby realizing the on and off of the water flow. This process usually works closely with sensors and control units in the automated irrigation system to automatically adjust irrigation parameters by real-time monitoring of environmental factors (such as soil moisture, meteorological data, etc.) to ensure that crops receive the most appropriate amount of water.

[0003] However, in the existing solenoid valve control method for agricultural irrigation, the solenoid valve control has problems such as operation lag, insufficient precision and unstable system response, which makes the spray volume of the irrigation nozzle unable to fully match the expected amount, resulting in unsatisfactory irrigation effect, waste of water resources or insufficient irrigation, thus affecting the growth and yield of crops. Therefore, how to monitor the action feedback of the solenoid valve in real time during the control process, identify and correct the control lag, make precise coordination corrections, and dynamically adjust the control parameters of the solenoid valve to improve the control stability of the irrigation system is a problem faced by the industry. Summary of the invention

[0004] The present application provides a solenoid valve control system and method for agricultural irrigation, which can monitor the action feedback of the solenoid valve in real time during the solenoid valve control process, identify and correct the control lag, perform precise coordination correction, and dynamically adjust the control parameters of the solenoid valve to improve the control stability of the irrigation system.

[0005] In a first aspect, the present application provides a solenoid valve control method for agricultural irrigation, the control method comprising the following steps: Collect control status data of the solenoid valve control switch from the agricultural irrigation control equipment, and obtain the irrigation spray volume corresponding to each irrigation sprinkler on the agricultural irrigation control equipment; Collecting the solenoid valve real-time information of the solenoid valve in the agricultural irrigation control equipment when the solenoid valve controls the irrigation sprinkler for irrigation spraying, and determining the hysteresis fault tolerance point when the solenoid valve controlling the irrigation sprinkler produces control hysteresis during agricultural irrigation according to the solenoid valve real-time information and the control state data; real-time monitoring of the action limit interval of the solenoid valve when performing variable spray control on the irrigation sprinkler, and coordinated correction of the action time of the solenoid valve based on the action limit interval and the irrigation spray amount, to obtain the coordinated correction feature when the solenoid valve controlling the irrigation sprinkler produces control lag during agricultural irrigation, and then determine the control fitting threshold when the solenoid valve performs irrigation spray control at different action times according to the coordinated correction feature; The action feedback deviation of the switching action of the solenoid valve when controlling the irrigation sprinkler is determined based on the hysteresis fault tolerance point and the control fitting threshold, and then the solenoid valve controlling the irrigation sprinkler during agricultural irrigation is fault-tolerantly controlled by the action feedback deviation.

[0006] In this embodiment, the real-time information of the solenoid valve in the agricultural irrigation control equipment when controlling the irrigation sprinkler to perform irrigation spraying specifically includes: Obtain the dynamic spray characteristics of the solenoid valve in the agricultural irrigation control equipment to control the irrigation nozzle; Determine the elastic fluctuation information of the solenoid valve in the agricultural irrigation control equipment in controlling the irrigation nozzle; Determining the control membership of the irrigation sprinkler under the control of the solenoid valve according to the elastic fluctuation information; The actual status information of the solenoid valve when the irrigation sprinkler performs irrigation spraying is determined according to the dynamic spraying characteristics and the control membership.

[0007] In this embodiment, determining the hysteresis fault tolerance point when the solenoid valve controlling the irrigation nozzle generates control hysteresis during agricultural irrigation according to the solenoid valve real-time information and the control state data specifically includes: Determine, according to the solenoid valve real-time information, the opening and closing action constraints of the solenoid valve controlling the irrigation sprinkler when agricultural irrigation produces control lag; Determine the spraying category attribute of the irrigation sprinkler under the control of the solenoid valve during agricultural irrigation according to the control state data; A hysteresis fault tolerance point when a solenoid valve controlling an irrigation sprinkler produces a control hysteresis during agricultural irrigation is determined according to the opening and closing action constraints and the spray category attributes.

[0008] In this embodiment, the action limit interval of the real-time monitoring solenoid valve when performing variable spray control on the irrigation sprinkler specifically includes: Collect the action amplitude change sequence of the solenoid valve when it performs variable spray control on the irrigation sprinkler; Determine the control proximity of the solenoid valve when controlling the variable-rate spraying of irrigation sprinklers; The action limit interval of the monitoring solenoid valve when performing variable spray control on the irrigation sprinkler is determined by the action amplitude variation sequence and the control proximity.

[0009] In this embodiment, the action time of the solenoid valve is coordinated and corrected based on the action limit interval and the irrigation spraying amount, and the coordinated correction characteristics when the solenoid valve controlling the irrigation sprinkler produces control lag during agricultural irrigation specifically include: Determine the measured number of actions of the solenoid valve at different opening times according to the action limiting interval; Determine the coordination correction amount of the solenoid valve when it is working according to the measured number of actions; Determine the hysteresis feedback response when the solenoid valve controlling the irrigation sprinkler produces control hysteresis during agricultural irrigation by the irrigation spraying amount; The coordinated correction feature when the solenoid valve controlling the irrigation sprinkler produces control hysteresis during agricultural irrigation is determined according to the coordinated correction amount and the hysteresis feedback response.

[0010] In this embodiment, the control fitting threshold when the solenoid valve performs irrigation spraying control at different action times is determined by the coordination correction feature and specifically includes: Obtain control difference information when the solenoid valve performs irrigation spray control at different action times; Determine control fitting data when the solenoid valve performs irrigation spray control at different action times according to the coordination correction characteristics; Determine the control configuration amount of the solenoid valve in different actions through the control fitting data; The control fitting threshold when the solenoid valve performs irrigation spraying control at different action times is determined according to the control difference information and the control fitting data.

[0011] In this embodiment, the action feedback deviation of the switch action of the solenoid valve when controlling the irrigation sprinkler to spray according to the hysteresis fault tolerance point and the control fitting threshold specifically includes: Determine an action interaction list of the switching action of the solenoid valve when controlling the irrigation sprinkler to spray according to the hysteresis fault tolerance point; Determine the action trigger information when the irrigation sprinkler sprays according to the control fitting threshold; The action feedback deviation of the switching action of the solenoid valve when controlling the irrigation sprinkler to spray is determined according to the action interaction list and the action triggering information.

[0012] In this embodiment, the action feedback deviation represents the difference between the actual spraying amount of the sprinkler and the target spraying amount after the solenoid valve is controlled to act.

[0013] In this embodiment, the control fitting threshold represents the allowable adjustment error during the solenoid valve control adjustment.

[0014] In a second aspect, the present application provides a solenoid valve control system for agricultural irrigation, which is used to execute a solenoid valve control method for agricultural irrigation, and the control system includes: A data acquisition module is used to collect control state data of the solenoid valve control switch from the agricultural irrigation control equipment, and obtain the irrigation spray volume corresponding to each irrigation sprinkler on the agricultural irrigation control equipment; A hysteresis detection module is used to collect the real-time information of the solenoid valve in the agricultural irrigation control equipment when the solenoid valve controls the irrigation sprinkler for irrigation spraying, and determine the hysteresis fault tolerance point when the solenoid valve controlling the irrigation sprinkler produces control hysteresis during agricultural irrigation according to the real-time information of the solenoid valve and the control state data; A coordination correction module is used to monitor in real time the action limit interval of the solenoid valve when performing variable spray control on the irrigation sprinkler, coordinately correct the action time of the solenoid valve based on the action limit interval and the irrigation spray amount, obtain the coordination correction characteristics when the solenoid valve controlling the irrigation sprinkler produces control lag during agricultural irrigation, and then determine the control fitting threshold when the solenoid valve performs irrigation spray control at different action times based on the coordination correction characteristics; The fault-tolerant control module is used to determine the action feedback deviation of the switching action of the solenoid valve when controlling the irrigation nozzle to spray according to the hysteresis fault-tolerant point and the control fitting threshold, and then the solenoid valve controlling the irrigation nozzle during agricultural irrigation is fault-tolerantly controlled by the action feedback deviation.

[0015] The technical solution provided by the embodiments disclosed in this application has the following beneficial effects: The control state data of the electromagnetic valve control switch is collected from the agricultural irrigation control equipment, and the irrigation spraying amount corresponding to each irrigation nozzle on the agricultural irrigation control equipment is obtained; the actual information of the electromagnetic valve in the agricultural irrigation control equipment when the electromagnetic valve controls the irrigation nozzle for irrigation spraying is collected, and the hysteresis fault tolerance point when the electromagnetic valve controlling the irrigation nozzle generates control hysteresis during agricultural irrigation is determined according to the actual information of the electromagnetic valve and the control state data; the action limit interval of the electromagnetic valve when the irrigation nozzle is controlled by the variable spraying is monitored in real time, and the action time of the electromagnetic valve is coordinated and corrected based on the action limit interval and the irrigation spraying amount, so as to obtain the coordinated correction characteristics when the electromagnetic valve controlling the irrigation nozzle generates control hysteresis during agricultural irrigation, and then the control fitting threshold of the electromagnetic valve when performing irrigation spraying control at different action times is determined according to the coordinated correction characteristics; the action feedback deviation of the switch action of the electromagnetic valve when controlling the irrigation nozzle spraying is determined according to the hysteresis fault tolerance point and the control fitting threshold, and then the fault-tolerant control of the electromagnetic valve controlling the irrigation nozzle during agricultural irrigation is performed according to the action feedback deviation.

[0016] It can be seen that in the present application, the control lag, inaccurate valve switching and operation error problems faced by the solenoid valve in actual operation can be effectively compensated; among them, by real-time acquisition of the control status data of the solenoid valve and the irrigation spray volume of each nozzle, the working status and spray volume of the irrigation system can be accurately monitored, and the performance data of the irrigation equipment can be obtained in time; by integrating the real-time information and control status data of the solenoid valve, the fault tolerance point of the control lag can be accurately identified, and the delay or error of the solenoid valve in actual operation can be effectively reduced, ensuring that the irrigation system operates more accurately and stably; real-time monitoring and coordinated correction of the action time of the solenoid valve according to the spray volume and the action limit interval can improve the operating accuracy of the solenoid valve, dynamically adjust the spray volume, and ensure that the water volume during the irrigation process matches the actual demand; according to the lag fault tolerance point and the control fitting threshold, by correcting the feedback deviation of the solenoid valve switching action, the errors and deviations in the system control can be effectively eliminated, ensuring that the solenoid valve performs stably throughout the irrigation process, and ultimately achieving efficient and accurate water distribution and irrigation control.

[0017] To sum up, the technical solution adopted in this application can monitor the action feedback of the solenoid valve in real time during the control process of the solenoid valve, identify and correct the control lag, perform precise coordination correction, and dynamically adjust the control parameters of the solenoid valve to improve the control stability of the irrigation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 is a flow chart of a solenoid valve control method for agricultural irrigation provided by the present application; Figure 2 It is a schematic diagram of a process for determining the actual status information of a solenoid valve according to the present application; Figure 3 is a schematic diagram of a flow chart for determining a control fitting threshold according to the present application; Figure 4 is a system structure diagram of a solenoid valve control system for agricultural irrigation according to this embodiment of the present application; Figure 5 It is a module structure diagram of the solenoid valve control system for agricultural irrigation provided in this application. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0021] The embodiment of the present application provides a solenoid valve control system and method for agricultural irrigation, the core of which is to collect control state data of a solenoid valve control switch from an agricultural irrigation control device, and obtain the irrigation spray amount corresponding to each irrigation nozzle on the agricultural irrigation control device; collect the solenoid valve real-time information of the solenoid valve in the agricultural irrigation control device when controlling the irrigation nozzle for irrigation spraying, and determine the hysteresis fault tolerance point when the solenoid valve controlling the irrigation nozzle generates control hysteresis during agricultural irrigation according to the solenoid valve real-time information and the control state data; monitor the action limit interval of the solenoid valve in real-time when performing variable spraying control on the irrigation nozzle, coordinate and correct the action time of the solenoid valve based on the action limit interval and the irrigation spray amount, obtain the coordination correction feature when the solenoid valve controlling the irrigation nozzle generates control hysteresis during agricultural irrigation, and then determine the control fitting threshold of the solenoid valve when performing irrigation spraying control at different action times according to the coordination correction feature; determine the action feedback deviation of the switch action of the solenoid valve when controlling the irrigation nozzle spraying according to the hysteresis fault tolerance point and the control fitting threshold, and then perform fault-tolerant control on the solenoid valve controlling the irrigation nozzle during agricultural irrigation according to the action feedback deviation. The above scheme can monitor the action feedback of the solenoid valve in real time during the control process, identify and correct the control lag, make precise coordination corrections, and dynamically adjust the control parameters of the solenoid valve to improve the control stability of the irrigation system.

[0022] Embodiment 1: In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods. Figure 1 As shown in FIG. 1 , this figure is an exemplary flow chart of a solenoid valve control method for agricultural irrigation according to this embodiment of the present application, and the control method includes the following steps: In step S1, the control state data of the solenoid valve control switch is collected from the agricultural irrigation control equipment, and the irrigation spray volume corresponding to each irrigation nozzle on the agricultural irrigation control equipment is obtained.

[0023] In the specific implementation, in order to collect the control state data of the solenoid valve control switch in the agricultural irrigation control equipment, it is necessary to establish a reliable data acquisition system, which consists of sensors, data transmission modules and data storage and processing units. First, a current sensor (such as a Hall current sensor) or a voltage detection module is installed in the control loop of the solenoid valve to monitor the switch state of the solenoid valve. When the control system issues a switch command, the solenoid valve coil is powered on or off, the sensor detects the current change and converts it into a digital signal, and the converted digital signal is used as the control state data. Secondly, the edge computing gateway or PLC controller is used to collect the signal in real time and record the timestamp when the control command is issued. In order to ensure the accuracy of the data, a filtering algorithm (such as mean filtering or Kalman filtering) can be introduced to eliminate signal noise, and the event triggering mechanism (such as current mutation detection) can be combined to improve the data sampling accuracy. The collected data is transmitted to the central server through communication protocols such as MQTT, Modbus or LoRa, and stored in a time series database (such as InfluxDB), and the control state data is read from the time series database.

[0024] It should be noted that, in the present application, the control state data refers to a data set of the switch state of the solenoid valve and its execution time information.

[0025] In addition, in the specific implementation, first, a micro flow meter (such as a turbine flow meter, electromagnetic flow meter or ultrasonic flow meter) is installed at the water inlet or outlet of each irrigation nozzle to measure the flow rate Q(t) per unit time in real time and collect data. Secondly, an edge computing gateway or PLC controller is used to sample flow data at a fixed time interval Δt, and the total irrigation volume is calculated by time integration: , where V is the total irrigation volume, N is the total number of sampling points, Represents the flow rate in the i-th unit time. In order to improve data accuracy, Kalman filtering is used to eliminate noise, and the mapping relationship between sprinkler head and solenoid valve is used to ensure that the data corresponds to the control state. The total irrigation volume can be used as the irrigation spray volume. The collected data is sent to the cloud through wireless transmission (such as LoRa, NB-IoT) and stored in a time series database (such as InfluxDB), and the irrigation spray volume is read from the time series database.

[0026] It should be noted that, in the present application, the irrigation spray volume refers to the amount of water sprayed by the irrigation nozzle per unit time.

[0027] In step S2, the actual status information of the solenoid valve in the agricultural irrigation control equipment when it controls the irrigation nozzle for irrigation spraying is collected, and the hysteresis fault tolerance point when the solenoid valve controlling the irrigation nozzle produces control hysteresis during agricultural irrigation is determined according to the actual status information of the solenoid valve and the control status data.

[0028] Preferably, in this embodiment, the real-time information of the solenoid valve in the agricultural irrigation control equipment when controlling the irrigation sprinkler for irrigation spraying is collected, referring to Figure 2 As shown, this figure is a schematic diagram of the process of determining the actual information of the solenoid valve in some embodiments of the present application. In this embodiment, determining the actual information of the solenoid valve can be achieved by using the following steps: In step S21, the dynamic spraying characteristics of the solenoid valve in the agricultural irrigation control equipment in controlling the irrigation nozzle are obtained; In step S22, elastic fluctuation information of the solenoid valve in the agricultural irrigation control device in controlling the irrigation nozzle is determined; In step S23, the control membership of the irrigation sprinkler under the control of the solenoid valve is determined according to the elastic fluctuation information; In step S24, actual information of the solenoid valve of the irrigation sprinkler when performing irrigation spraying is determined according to the dynamic spraying characteristics and the control membership.

[0029] In the specific implementation, first, install a pressure sensor (such as a MEMS pressure sensor) and a flow meter on the pipeline connecting the solenoid valve and the nozzle to collect instantaneous pressure P(t) and flow Q(t) respectively. The pressure P(t) and flow Q(t) data are recorded at a sampling time interval Δt, and the short-term change characteristics of the spraying process are extracted through wavelet transform or FFT (Fast Fourier Transform), and then the spraying rate R(t) is calculated. , the spray rate is used as the dynamic spray feature, then the variance of the spray flow and pressure is calculated, and the ratio of the variance of the spray flow and pressure is used as the elastic fluctuation information of the solenoid valve in the agricultural irrigation control equipment in controlling the irrigation nozzle. Then, the flow fluctuation, pressure fluctuation and spray rate R(t) are set as input variables, and fuzzy logic is used to calculate the dynamic spray feature. Logic) calculates the control membership through input variables. A membership of 1 indicates fluctuation and stable spraying, a membership of 0.5 indicates slight fluctuation, and a membership of 0 indicates violent fluctuation and control failure. Then, the three membership modes of the sprinkler response are analyzed through K-means clustering, and divided into three categories: normal, slightly abnormal, and severely abnormal. Then, the correlation coefficient between the sprinkler response time and the solenoid valve instruction is calculated. The correlation function can be used for calculation, such as the Pearson correlation coefficient, and the obtained correlation coefficient is used as the control membership of the irrigation sprinkler under the control of the solenoid valve; finally, the BP neural network is used to input the dynamic spraying characteristics and the control membership, output the comprehensive real-time information of the solenoid valve, and use the comprehensive real-time information as the real-time information of the solenoid valve, that is, the real-time information of the solenoid valve = f (dynamic spraying characteristics, control membership), where f represents the activation function.

[0030] It should be noted that, in the present application, the dynamic spray characteristics represent the set of key parameters of water pressure, flow rate and their time-varying characteristics during the spraying process of the irrigation sprinkler controlled by the solenoid valve; the elastic fluctuation information represents the short-term fluctuation characteristics of water pressure and flow rate during the spraying process of the irrigation sprinkler controlled by the solenoid valve; the control membership represents the degree of matching of the irrigation sprinkler in response to the solenoid valve control; the solenoid valve real-time information represents the real-time working status and performance of the solenoid valve in the process of controlling the irrigation sprinkler.

[0031] In this embodiment, the following steps can be used to determine the hysteresis fault tolerance point when the solenoid valve controlling the irrigation nozzle produces control hysteresis during agricultural irrigation according to the solenoid valve real-time information and the control state data: Determine, according to the solenoid valve real-time information, the opening and closing action constraints of the solenoid valve controlling the irrigation sprinkler when agricultural irrigation produces control lag; Determine the spraying category attribute of the irrigation sprinkler under the control of the solenoid valve during agricultural irrigation according to the control state data; A hysteresis fault tolerance point when a solenoid valve controlling an irrigation sprinkler produces a control hysteresis during agricultural irrigation is determined according to the opening and closing action constraints and the spray category attributes.

[0032] In the specific implementation, first, the response delay when the solenoid valve is opened and closed is identified by using the previously acquired solenoid valve switch state data and dynamic spray characteristics, and the switch behavior of the solenoid valve is analyzed by modeling, and the response time model (such as the exponential response model) is used to describe the hysteresis in the switch process. According to the pressure-flow curve, the time delay when the solenoid valve is opened and closed is calculated, and then the maximum response time and the minimum response time are set through experimental or simulation data, and the maximum response time and the minimum response time are used as the constraint value of the opening and closing action constraint, that is, the opening and closing action constraint is obtained. For example, the maximum hysteresis tolerance time and the minimum hysteresis tolerance time are set, and the maximum hysteresis tolerance time and the minimum hysteresis tolerance time are used as the boundary of the opening and closing action constraint, that is, the opening and closing action constraint when the solenoid valve generates control hysteresis is obtained; then, according to the configuration and control parameters of the irrigation sprinkler, the spray category attributes can be divided into constant flow spray, adjustable flow spray and dynamically adjusted spray. For constant flow spray, the spray volume of the sprinkler will not change over time. For adjustable flow spray, the flow rate and spray range may change according to the external environment or control instructions. For dynamically adjusted spraying, the spraying intensity and angle of the nozzle will be adjusted according to real-time feedback. Using flow meters, pressure sensors, meteorological data, etc., combined with nozzle types, the spraying properties (such as spraying rate, spraying angle, etc.) of each nozzle under different operating conditions are determined. According to the collected data, the spraying modes of different nozzles at different time points are fuzzy classified, that is, the spraying category attributes of the irrigation nozzles under the control of the solenoid valve during agricultural irrigation are obtained; finally, according to the opening and closing action constraints of the solenoid valve and the spraying category attributes, a hysteresis fault tolerance model is constructed. Using a fuzzy control algorithm or a neural network model, the response time lag of the solenoid valve and the spraying characteristic data of the nozzle are input, and the hysteresis fault tolerance point is output, wherein the hysteresis fault tolerance function can be a step function or a group number attenuation function and a linear growth function, wherein the step function or the group number attenuation function and the linear growth function contain the opening and closing delays of the solenoid valve, and the spray type reflects the spraying demand and flow data of the nozzle.

[0033] It should be noted that in this application, the opening and closing action constraint represents the maximum and minimum response time delay range allowed during the opening or closing process of the solenoid valve; the spray category attribute represents the spraying pattern of the irrigation sprinkler during the control process; the hysteresis tolerance point represents the maximum response delay time allowed when the solenoid valve controls the sprinkler. Exceeding this time will cause the sprinkler spray amount deviation.

[0034] In step S3, the action limit interval of the solenoid valve when performing variable spray control on the irrigation sprinkler is monitored in real time, and the action time of the solenoid valve is coordinated and corrected based on the action limit interval and the irrigation spray amount, so as to obtain the coordinated correction characteristics when the solenoid valve controlling the irrigation sprinkler produces control lag during agricultural irrigation, and then the control fitting threshold of the solenoid valve when performing irrigation spray control at different action times is determined based on the coordinated correction characteristics.

[0035] In this embodiment, real-time monitoring of the action limit interval of the solenoid valve when performing variable spray control on the irrigation sprinkler can be achieved by the following steps: Collect the action amplitude change sequence of the solenoid valve when it performs variable spray control on the irrigation sprinkler; Determine the control proximity of the solenoid valve when controlling the variable-rate spraying of irrigation sprinklers; The action limit interval of the monitoring solenoid valve when performing variable spray control on the irrigation sprinkler is determined by the action amplitude variation sequence and the control proximity.

[0036] In the specific implementation, first, the sensor array is used to monitor the switch state of the solenoid valve and the flow rate and spray angle changes of the nozzle in real time. Through the sensor data, the real-time action amplitude change data is obtained, such as the change rate of the flow rate or spray angle in each time interval. The collected data is signal filtered to remove noise. Then, using time series analysis, the sliding average method can be used to smooth the data to ensure data stability. By analyzing the amplitude of data fluctuations, such as statistical analysis methods, coefficient of variation, etc., the action amplitude change sequence is obtained. Then, according to the target flow rate, pressure and other parameters controlled by the solenoid valve, the error analysis is performed with the output of the actual irrigation nozzle. The error function is used to calculate the difference between the target target flow rate, pressure and other parameters and the output of the actual irrigation nozzle and the percentage of the target flow rate, pressure, etc., such as the absolute error (AE). The percentage of the difference between the target target flow rate, pressure and other parameters and the output of the actual irrigation nozzle is used as the error function value. The error function value reflects the accuracy and response speed of the solenoid valve control, and the error function value is used as the control proximity of the solenoid valve when performing variable spray control on the irrigation nozzle. Finally, by analyzing the action amplitude change sequence and control proximity, combined with the stability requirements of the system, for example, the action amplitude change sequence is [30%, 45%, 70%, 85%, 60%], and the control proximity is [0.95, 0.85, 0.60, 0.40, 0.75]. By observing the action amplitude change sequence, it is found that the solenoid valve changes too fast at the 3rd and 4th time points (opening 70%→85%), which may cause excessive spraying. The control proximity drops sharply at the 3rd and 4th time points (from 0.60 to 0.40), indicating that the control effect of the solenoid valve at this stage deteriorates and the error increases. If the action amplitude changes too fast and the control proximity decreases, the action limit interval is narrowed to avoid excessive adjustment. If the action amplitude is stable and the control proximity is high, the action limit interval can be appropriately relaxed to improve the control flexibility. For example, at time points 3 and 4, because the solenoid valve is adjusted too fast and the control proximity decreases, the fuzzy control system determines that the control interval should be contracted. For example, the maximum variation amplitude of the solenoid valve is set to 10%, that is, the maximum value allowed in the control area is 75%, not 85%. At time point 5, the control proximity increases (0.75), indicating that the control effect is restored, allowing the solenoid valve action amplitude to be appropriately expanded, and then the upper and lower limits of the action limit interval are calculated. The maximum and minimum values ​​in the amplitude variation sequence are averaged with the maximum and minimum values ​​in the control proximity, and the obtained average is used as the upper and lower limits of the action limit interval, that is, the action limit interval of the monitoring solenoid valve when performing variable spray control on the irrigation sprinkler is obtained.

[0037] It should be noted that in the present application, the action amplitude sequence represents the fluctuation amplitude of variables such as the spraying flow rate and spraying angle of the irrigation sprinkler when the solenoid valve is controlling the irrigation sprinkler; the control proximity represents the degree of proximity between the target value (such as spraying flow rate, pressure, etc.) controlled by the solenoid valve and the actual sprinkler output; the solenoid valve is allowed to adjust the range of action when controlling the irrigation sprinkler for variable spraying.

[0038] In this embodiment, the action time of the solenoid valve is coordinated and corrected based on the action limit interval and the irrigation spraying amount, and the coordinated correction characteristics when the solenoid valve controlling the irrigation sprinkler produces control lag during agricultural irrigation can be achieved by the following steps: Determine the measured number of actions of the solenoid valve at different opening times according to the action limiting interval; Determine the coordination correction amount of the solenoid valve when it is working according to the measured number of actions; Determine the hysteresis feedback response when the solenoid valve controlling the irrigation sprinkler produces control hysteresis during agricultural irrigation by the irrigation spraying amount; The coordinated correction feature when the solenoid valve controlling the irrigation sprinkler produces control hysteresis during agricultural irrigation is determined according to the coordinated correction amount and the hysteresis feedback response.

[0039] In the specific implementation, first, the opening time of the solenoid valve is divided into different time periods according to the action limit interval. In the divided time periods, the flow meter, pressure sensor and solenoid valve control signal are used to record the switching action of the solenoid valve in each time period, and the opening or closing operation of the solenoid valve in each time period is counted to obtain the actual number of actions at different opening times, that is, the actual number of actions of the solenoid valve at different opening times is obtained; then, the control error function, such as the deviation value and the error rate, is used to calculate the action correction amount. For example, if the target spray flow rate is 10L / min and the actual flow rate of the solenoid valve within the 5s opening time is 8L / min, then the deviation value is 1. 0-8=2L / min, the error rate is 2 / 10=20%, and then the correction model is fitted using statistical methods (such as the least squares method) to ensure that the action correction matches the actual control error. The output of the fitted correction model is used as the coordination correction of the solenoid valve when it is working. For example, when the opening time is 2s, 4s, 6s, and 8s, the corresponding control correction is 1.5L / min, 1.2L / min, 0.8L / min, and 0.5L / min. The least squares method is used to fit R=at+b, where R represents the coordination correction, a is the correction coefficient, and b represents the initial correction. The fitting model R=-0.15t+1.8 is obtained. When the solenoid valve runs for 5s, the model calculates R=-0.15(5)+1.8=1.05L / min, which is the coordination correction. Then, the spraying amount of the irrigation sprinkler is monitored in real time through a flow meter or pressure sensor. The spraying amount is matched with the control signal of the solenoid valve and its switching time to obtain the spraying feedback data of the nozzle. For example, the control signal (switching time) of the solenoid valve is 4 seconds, and the actual spraying amount is 12L / min; if the expected spraying amount of the control signal is 10L / min, the control error is 12-10=2L / min. The switching time is adjusted according to the error. For example, the switching time is increased by 1 second, and the spraying amount after adjustment is 10L / min. The difference between the actual spraying amount and the expected spraying amount is compared, and the difference between the actual spraying amount and the expected spraying amount is used as the hysteresis feedback response when the solenoid valve controlling the irrigation nozzle produces control hysteresis during agricultural irrigation. For example, the expected spraying amount is 10L / min, and the actual spraying amount is 8L / min. The difference between the two is 2L / min, indicating that the solenoid valve has hysteresis. According to the control hysteresis feedback model, the hysteresis feedback response is the difference value 2L / min, reflecting the hysteresis effect of the solenoid valve. In order to compensate for the hysteresis, the solenoid valve needs to adjust the switching time or control signal. For example, by increasing the switching time by 1 second, the spraying volume is increased to the expected 10L / min; finally, the coordination correction amount is combined with the hysteresis feedback response to calculate the coordination correction characteristics required for the solenoid valve. The coordination correction amount is 1.2L / min and the hysteresis feedback response is 2L / min. In order to eliminate hysteresis and improve irrigation accuracy, the two need to be combined.The weighted average method can be used to calculate the correction characteristics of the solenoid valve, that is, the coordinated correction characteristic = 0.6 × coordinated correction amount + 0.4 × delayed feedback response, where 0.6 and 0.4 are weight coefficients that can be obtained through experiments. Substituting the numerical values: coordinated correction characteristic = 0.6 × 1.2 + 0.4 × 2 = 0.72 + 0.8 = 1.52 L / min.

[0040] It should be noted that in the present application, the measured number of actions refers to the number of opening and closing times actually performed by the solenoid valve within a given time range for each specific opening time (solenoid valve opening duration); the coordination correction amount refers to the value of compensating for the solenoid valve control lag after adjusting the working time of the solenoid valve; the hysteresis feedback response refers to the difference between the actual output and the expected output of the solenoid valve controlled sprinkler when the solenoid valve controls the irrigation sprinkler; the coordination correction feature refers to the coordination correction amount based on the solenoid valve action time and the hysteresis feedback response, which adjusts the control parameters to eliminate lag and optimize the irrigation spraying effect.

[0041] Preferably, in this embodiment, the control fitting threshold when the solenoid valve performs irrigation spray control at different action times is determined by the coordination correction feature, referring to Figure 3 As shown, this figure is a schematic diagram of a process for determining a control fitting threshold in some embodiments of the present application. In this embodiment, determining the control fitting threshold can be implemented by the following steps: In step S31, the control difference information of the solenoid valve when performing irrigation spray control at different action times is obtained; In step S32, control fitting data when the solenoid valve performs irrigation spray control at different action times is determined according to the coordination correction characteristics; In step S33, the control configuration amount of the solenoid valve in different actions is determined by the control fitting data; In step S34, a control fitting threshold when the solenoid valve performs irrigation spraying control at different action times is determined according to the control difference information and the control fitting data.

[0042] In the specific implementation, first, monitor the actual control time of the solenoid valve and the spraying amount of the irrigation sprinkler, and use a flow meter or pressure sensor to collect the spraying data of the sprinkler. Subtract the actual spraying amount from the target spraying amount, and use the subtraction result as the difference data at each action time. The difference data includes the excess or insufficient part of the spraying amount, that is, the difference between the actual spraying amount and the target spraying amount is used as the control difference information when the solenoid valve performs irrigation spraying control at different action times; then, the control fitting data at different action times are calculated by linear regression based on the coordination correction characteristics and the control difference information. For example, at different control times (such as 5 seconds, 10 seconds, and 15 seconds), the coordination correction characteristics are 1.2L / min, 1.5L / min, and 1.8L / min, respectively, and the control difference information (the difference between the actual spraying amount and the expected spraying amount) is 0.1L / min, 0.2L / min, and 0.3L / min, respectively. The linear regression model is used to fit the data to obtain the control fitting data y=ax+b, where y is the control difference information, x is the coordination correction characteristics, and a and b are regression coefficients calculated by the least squares method; then, based on the control fitting data, the control configuration amount at each action time is calculated. When the control action time is 10 seconds, the coordination correction characteristics are 1.5L / min, and the control difference obtained according to the regression formula is 0.2 L / min. In order to calculate the control configuration amount, a correction factor can be introduced, which takes into account factors such as control lag and spraying amount. The control configuration amount C is calculated as: C = control difference × K, where K is a constant factor, which represents the correction coefficient of the system, assuming it is 2. Then at 10 seconds, the control configuration amount is: C = 0.2L / min × 2 = 0.4L / min, that is, the control configuration amount of the solenoid valve at different actions is obtained; finally, combined with the control difference information and the control fitting data, the error analysis method is used to calculate the control fitting threshold at each action time. At different action times, assuming that the control difference information is 0.1L / min, 0.2L / min and 0.3L / min, the control fitting data are 1.2L / min, 1.5L / min and 1.8L / min respectively. Next, the error of each action time is calculated, and the error is equal to the control difference minus the control fitting data. For a 5-second action time, the error is 0.1-1.2 = -1.1 L / min, for a 10-second action time, the error is 0.2-1.5 = -1.3 L / min, and for a 15-second action time, the error is 0.3-1.8 = -1.5 L / min. Then, the standard deviation (σ) of the error is calculated by the error analysis method. According to the mean value (μ) and standard deviation (σ) of the error, the control fitting threshold (T) can be calculated by the following formula: T = μ + 2σ, that is, the control fitting threshold of the solenoid valve for irrigation sprinkler control at different action times is obtained.

[0043] It should be noted that in the present application, the control difference information represents the difference between the actual spraying amount and the target spraying amount of the solenoid valve at different action times; the control fitting data represents the optimization result of the solenoid valve control process by coordinating the correction characteristics at different action times; the control configuration amount represents the actual control amount that needs to be adjusted when the solenoid valve controls the sprinkler nozzle; the control fitting threshold represents the adjustment error allowed when the solenoid valve control is adjusted.

[0044] In step S4, the action feedback deviation of the switching action of the solenoid valve when controlling the irrigation sprinkler is determined based on the hysteresis fault tolerance point and the control fitting threshold, and then the solenoid valve controlling the irrigation sprinkler during agricultural irrigation is fault-tolerantly controlled by the action feedback deviation.

[0045] In this embodiment, the action feedback deviation of the switch action of the solenoid valve when controlling the irrigation sprinkler spraying can be determined according to the hysteresis fault tolerance point and the control fitting threshold by using the following steps: Determine an action interaction list of the switching action of the solenoid valve when controlling the irrigation sprinkler to spray according to the hysteresis fault tolerance point; Determine the action trigger information when the irrigation sprinkler sprays according to the control fitting threshold; The action feedback deviation of the switching action of the solenoid valve when controlling the irrigation sprinkler to spray is determined according to the action interaction list and the action triggering information.

[0046] In the specific implementation, first, according to the hysteresis fault tolerance point, determine the fault tolerance range of each solenoid valve switch action, that is, the allowable error range. The allowable error range is formed into a time series, and the time series is used as an action interaction list. The action interaction list records the correspondence between the switch action of the solenoid valve and the actual spraying effect. Each interaction point contains a control action (such as the opening or closing time of the solenoid valve switch) and the corresponding irrigation nozzle spraying amount; then, the control fitting threshold is used to define the trigger threshold of the irrigation nozzle at different spraying amounts. The control fitting threshold is 0.5L / min, the expected spraying amount is 5L / min, the actual spraying amount is 5.4L / min, and the error is 0.4L / min. In this case, the actual error is less than the control fitting threshold, so there is no need to trigger the correction action. If the error exceeds 0.5L / min (for example, the actual spraying amount is 5.7L / min and the error is 0.7L / min), it exceeds the trigger threshold, and the system will trigger the correction action to adjust the switch time of the solenoid valve to ensure that the spraying amount is close to the target value. By comparing the actual irrigation spray volume and the control fitting threshold, the trigger point is determined, that is, the expected irrigation spray volume is 10L / min, and the control fitting threshold is 0.5L / min. If the actual spray volume is 10.3L / min, the error is 0.3L / min, which is lower than the control fitting threshold, the system maintains the current setting and does not need to trigger the correction action. However, if the actual spray volume is 10.8L / min, the error is 0.8L / min, which exceeds the control fitting threshold, the system recognizes it as a trigger point and starts the correction mechanism, that is, when the solenoid valve should perform the switch operation, when the spray volume of the irrigation nozzle exceeds or falls below the set threshold value, the action trigger information at that moment is recorded. The action trigger information includes the trigger time, spraying volume, and the state of the solenoid valve action, that is, the action trigger information when the irrigation nozzle sprays; finally, according to the action interaction list and the action trigger information, by comparing the actual spraying volume with the target spraying volume, the action feedback deviation of each action is calculated. The target spraying volume is 10L / min, and the current spraying volume is 9.8L / min, then the action feedback deviation is -0.2L / min. According to the action interaction list, the system calculates the action feedback deviation by the error between the current spraying volume and the target spraying volume. If the error exceeds the preset fault tolerance range, the correction action is triggered. For example, if the error exceeds 0.5L / min, the system adjusts the switching time of the solenoid valve to reduce the action feedback deviation.

[0047] It should be noted that in the present application, the action interaction list represents the interaction record between the solenoid valve switching action and the irrigation nozzle spraying effect during the irrigation process; the action trigger information represents the factor that triggers the switch of the solenoid valve when the spraying amount of the irrigation nozzle reaches the control fitting threshold; the action feedback deviation represents the difference between the actual spraying amount of the nozzle and the target spraying amount after the solenoid valve control action.

[0048] In specific implementation, the fault-tolerant control of the solenoid valve that controls the irrigation nozzle during agricultural irrigation by the action feedback deviation can be implemented in the following manner, namely: first, the action feedback deviation of the solenoid valve is obtained through the above steps, that is, the difference between the actual spraying amount and the expected spraying amount after each solenoid valve action. According to the size of the deviation, the fault-tolerant control algorithm (such as PID control, fuzzy control, etc.) begins to play a role. The fault-tolerant control algorithm corrects the control action in real time by adjusting the control signal (such as voltage, switching time, etc.) of the solenoid valve. Secondly, a dynamic adjustment strategy is adopted to perform online correction according to the feedback data obtained in real time. Assuming that the deviation is large, the control system will increase the action amplitude of the solenoid valve or extend the action time; if the deviation is small, the control amount may be reduced to avoid over-adjustment. The control system will adjust the action parameters of the solenoid valve according to the deviation of each feedback, so that the spraying amount each time is as close to the target value as possible. In addition, the fault-tolerant correction technology can be used. Through the redundant design and self-calibration capability of the system, when the solenoid valve hardware fails or the performance degrades, it will automatically switch to the backup valve or adjust the valve parameters, thereby further reducing the system error and ensuring the stability and efficiency of the irrigation process.

[0049] In addition, it should be noted that the reference Figure 4As shown, this figure is a system structure diagram of the solenoid valve control system for agricultural irrigation shown in this embodiment of the present application, and the system structure includes: air compressor: provides compressed air as the power source of the system to drive other components. Pressure regulating valve: adjusts the pressure of compressed air to ensure that the system operates at a suitable pressure. Electronic control unit: the core control part of the system, responsible for receiving and processing signals from various sensors, and controlling the operation of the actuator. Medicine box: stores liquid fertilizers or pesticides required for irrigation, and accurately delivers them through the system. Pressure control device: monitors and adjusts the pressure in the system to ensure that the pressure is stable during irrigation. Solenoid valve control switch acquisition device: collects the status information of the solenoid valve and transmits this information to the electronic control unit. Bus transceiver: responsible for the communication between the components in the system to ensure the transmission and reception of data. Irrigation execution device: performs specific irrigation operations according to the instructions of the control unit. Sprinkler: sprays water and liquid medicine evenly on the crops to achieve irrigation and fertilization. Solenoid valve: controls the switch of water flow and liquid medicine to ensure accurate flow control. Control switch: manually or automatically controls the start, stop and operation mode of the system. Control system: Integrate all control functions, coordinate the work of each component, and ensure the efficient operation of the system. In addition, the system result diagram shows the information flow and coordination relationship between the components. First, the air compressor generates compressed air, which is regulated by the pressure regulating valve to provide stable air pressure as the power source of the system. The electronic control unit, as the core controller, receives pressure data from the pressure control device and status information from the solenoid valve control switch acquisition device, and communicates with other components through the bus transceiver. When the system is started, the control switch sends instructions to the electronic control unit, which sends control signals to the irrigation actuator and the solenoid valve according to the preset irrigation needs. The solenoid valve adjusts the flow of water and liquid medicine according to the instructions to ensure accurate irrigation and fertilization. At the same time, the liquid fertilizer or pesticide in the medicine box is mixed with the water flow through the system and evenly sprayed on the crops through the nozzle. During the whole process, the pressure control device continuously monitors the system pressure to ensure that it operates within a safe range. The bus transceiver is responsible for real-time data transmission between components to ensure efficient coordination of the system.

[0050] It can be seen that in the present application, the control lag, inaccurate valve switching and operation error problems faced by the solenoid valve in actual operation can be effectively compensated; among them, by real-time acquisition of the control status data of the solenoid valve and the irrigation spray volume of each nozzle, the working status and spray volume of the irrigation system can be accurately monitored, and the performance data of the irrigation equipment can be obtained in time; by integrating the real-time information and control status data of the solenoid valve, the fault tolerance point of the control lag can be accurately identified, and the delay or error of the solenoid valve in actual operation can be effectively reduced, ensuring that the irrigation system operates more accurately and stably; real-time monitoring and coordinated correction of the action time of the solenoid valve according to the spray volume and the action limit interval can improve the operating accuracy of the solenoid valve, dynamically adjust the spray volume, and ensure that the water volume during the irrigation process matches the actual demand; according to the lag fault tolerance point and the control fitting threshold, by correcting the feedback deviation of the solenoid valve switching action, the errors and deviations in the system control can be effectively eliminated, ensuring that the solenoid valve performs stably throughout the irrigation process, and ultimately achieving efficient and accurate water distribution and irrigation control.

[0051] To sum up, the technical solution adopted in this application can monitor the action feedback of the solenoid valve in real time during the control process of the solenoid valve, identify and correct the control lag, perform precise coordination correction, and dynamically adjust the control parameters of the solenoid valve to improve the control stability of the irrigation system.

[0052] Embodiment 2: This application provides a solenoid valve control system for agricultural irrigation, referring to Figure 5 As shown, this figure is a schematic diagram of a solenoid valve control system for agricultural irrigation according to this embodiment of the present application, and the control system includes: The data acquisition module 100 is used to collect the control state data of the solenoid valve control switch from the agricultural irrigation control device, and obtain the irrigation spray volume corresponding to each irrigation nozzle on the agricultural irrigation control device; The hysteresis detection module 200 is used to collect the real-time information of the solenoid valve in the agricultural irrigation control equipment when the solenoid valve controls the irrigation sprinkler for irrigation spraying, and determine the hysteresis fault tolerance point when the solenoid valve controlling the irrigation sprinkler generates control hysteresis during agricultural irrigation according to the real-time information of the solenoid valve and the control state data; The coordination correction module 300 is used to monitor in real time the action limit interval of the solenoid valve when performing variable spray control on the irrigation sprinkler, coordinately correct the action time of the solenoid valve based on the action limit interval and the irrigation spray amount, obtain the coordination correction characteristics when the solenoid valve controlling the irrigation sprinkler produces control lag during agricultural irrigation, and then determine the control fitting threshold when the solenoid valve performs irrigation spray control at different action times based on the coordination correction characteristics; The fault-tolerant control module 400 is used to determine the action feedback deviation of the switching action of the solenoid valve when controlling the irrigation sprinkler to spray according to the hysteresis fault-tolerant point and the control fitting threshold, and then perform fault-tolerant control on the solenoid valve that controls the irrigation sprinkler during agricultural irrigation based on the action feedback deviation.

[0053] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0054] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, the storage medium including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically-erasable programmable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0055] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

Claims

1. A solenoid valve control method for agricultural irrigation, characterized in that: The control method comprises the following steps: Collect control status data of the solenoid valve control switch from the agricultural irrigation control equipment, and obtain the irrigation spray volume corresponding to each irrigation sprinkler on the agricultural irrigation control equipment; Collecting the solenoid valve real-time information of the solenoid valve in the agricultural irrigation control equipment when the solenoid valve controls the irrigation sprinkler for irrigation spraying, and determining the hysteresis fault tolerance point when the solenoid valve controlling the irrigation sprinkler produces control hysteresis during agricultural irrigation according to the solenoid valve real-time information and the control state data; real-time monitoring of the action limit interval of the solenoid valve when performing variable spray control on the irrigation sprinkler, and coordinated correction of the action time of the solenoid valve based on the action limit interval and the irrigation spray amount, to obtain the coordinated correction feature when the solenoid valve controlling the irrigation sprinkler produces control lag during agricultural irrigation, and then determine the control fitting threshold when the solenoid valve performs irrigation spray control at different action times according to the coordinated correction feature; The action feedback deviation of the switching action of the solenoid valve when controlling the irrigation sprinkler is determined based on the hysteresis fault tolerance point and the control fitting threshold, and then the solenoid valve controlling the irrigation sprinkler during agricultural irrigation is fault-tolerantly controlled by the action feedback deviation.

2. A solenoid valve control method for agricultural irrigation according to claim 1, characterized in that: The real-time information of the solenoid valve in the agricultural irrigation control equipment when controlling the irrigation sprinkler for irrigation spraying is collected, including: Obtain the dynamic spray characteristics of the solenoid valve in the agricultural irrigation control equipment to control the irrigation nozzle; Determine the elastic fluctuation information of the solenoid valve in the agricultural irrigation control equipment in controlling the irrigation nozzle; Determining the control membership of the irrigation sprinkler under the control of the solenoid valve according to the elastic fluctuation information; The actual status information of the solenoid valve when the irrigation sprinkler performs irrigation spraying is determined according to the dynamic spraying characteristics and the control membership.

3. A solenoid valve control method for agricultural irrigation according to claim 1, characterized in that: Determining the hysteresis fault tolerance point when the solenoid valve controlling the irrigation sprinkler produces control hysteresis during agricultural irrigation according to the solenoid valve real-time information and the control state data specifically includes: Determine, according to the solenoid valve real-time information, the opening and closing action constraints of the solenoid valve controlling the irrigation sprinkler when agricultural irrigation produces control lag; Determine the spraying category attribute of the irrigation sprinkler under the control of the solenoid valve during agricultural irrigation according to the control state data; A hysteresis fault tolerance point when a solenoid valve controlling an irrigation sprinkler produces a control hysteresis during agricultural irrigation is determined according to the opening and closing action constraints and the spray category attributes.

4. A solenoid valve control method for agricultural irrigation as claimed in claim 1, characterized in that: The action limit interval of the real-time monitoring solenoid valve when performing variable spray control on the irrigation sprinkler specifically includes: Collect the action amplitude change sequence of the solenoid valve when it performs variable spray control on the irrigation sprinkler; Determine the control proximity of the solenoid valve when controlling the variable-rate spraying of irrigation sprinklers; The action limit interval of the monitoring solenoid valve when performing variable spray control on the irrigation sprinkler is determined by the action amplitude variation sequence and the control proximity.

5. A solenoid valve control method for agricultural irrigation as claimed in claim 1, characterized in that: Based on the action limit interval and the irrigation spraying amount, the action time of the solenoid valve is coordinated and corrected, and the coordinated correction characteristics when the solenoid valve controlling the irrigation sprinkler produces control lag during agricultural irrigation are obtained, specifically including: Determine the measured number of actions of the solenoid valve at different opening times according to the action limiting interval; Determine the coordination correction amount of the solenoid valve when it is working according to the measured number of actions; Determine the hysteresis feedback response when the solenoid valve controlling the irrigation sprinkler produces control hysteresis during agricultural irrigation by the irrigation spraying amount; The coordinated correction feature when the solenoid valve controlling the irrigation sprinkler produces control hysteresis during agricultural irrigation is determined according to the coordinated correction amount and the hysteresis feedback response.

6. A solenoid valve control method for agricultural irrigation as claimed in claim 1, characterized in that: Determining the control fitting threshold when the solenoid valve performs irrigation spray control at different action times by the coordinated correction feature specifically includes: Obtain control difference information when the solenoid valve performs irrigation spray control at different action times; Determine control fitting data when the solenoid valve performs irrigation spray control at different action times according to the coordination correction characteristics; Determine the control configuration amount of the solenoid valve in different actions through the control fitting data; The control fitting threshold when the solenoid valve performs irrigation spraying control at different action times is determined according to the control difference information and the control fitting data.

7. A solenoid valve control method for agricultural irrigation as claimed in claim 1, characterized in that: Determining the action feedback deviation of the switch action of the solenoid valve when controlling the irrigation sprinkler to spray according to the hysteresis fault tolerance point and the control fitting threshold specifically includes: Determine an action interaction list of the switching action of the solenoid valve when controlling the irrigation sprinkler to spray according to the hysteresis fault tolerance point; Determine the action trigger information when the irrigation sprinkler sprays according to the control fitting threshold; The action feedback deviation of the switching action of the solenoid valve when controlling the irrigation sprinkler to spray is determined according to the action interaction list and the action triggering information.

8. A solenoid valve control method for agricultural irrigation as claimed in claim 1, characterized in that: The action feedback deviation indicates the difference between the actual spraying amount of the sprinkler and the target spraying amount after the solenoid valve control action.

9. A solenoid valve control method for agricultural irrigation as claimed in claim 1, characterized in that: The control fitting threshold represents the allowable adjustment error during the solenoid valve control adjustment.

10. A solenoid valve control system for agricultural irrigation, used to execute a solenoid valve control method for agricultural irrigation as claimed in any one of claims 1 to 9, characterized in that: The control system comprises: A data acquisition module is used to collect control state data of the solenoid valve control switch from the agricultural irrigation control equipment, and obtain the irrigation spray volume corresponding to each irrigation sprinkler on the agricultural irrigation control equipment; A hysteresis detection module is used to collect the real-time information of the solenoid valve in the agricultural irrigation control equipment when the solenoid valve controls the irrigation sprinkler for irrigation spraying, and determine the hysteresis fault tolerance point when the solenoid valve controlling the irrigation sprinkler produces control hysteresis during agricultural irrigation according to the real-time information of the solenoid valve and the control state data; A coordination correction module is used to monitor in real time the action limit interval of the solenoid valve when performing variable spray control on the irrigation sprinkler, coordinately correct the action time of the solenoid valve based on the action limit interval and the irrigation spray amount, obtain the coordination correction characteristics when the solenoid valve controlling the irrigation sprinkler produces control lag during agricultural irrigation, and then determine the control fitting threshold when the solenoid valve performs irrigation spray control at different action times based on the coordination correction characteristics; The fault-tolerant control module is used to determine the action feedback deviation of the switching action of the solenoid valve when controlling the irrigation nozzle to spray according to the hysteresis fault-tolerant point and the control fitting threshold, and then the solenoid valve controlling the irrigation nozzle during agricultural irrigation is fault-tolerantly controlled by the action feedback deviation.

Images