An electromagnetic valve control system and method for agricultural irrigation

Abstract

The present application provides a solenoid valve control system and method for agricultural irrigation, which relates to the technical field of solenoid valve control. A lag tolerance point is determined when there is a control lag in the solenoid valve that controls the irrigation nozzle during agricultural irrigation based on the actual situation information of the solenoid valve and the control status data; the action time of the solenoid valve is coordinately corrected based on the action limit interval and the irrigation spray volume to obtain a coordinated correction feature when there is a control lag in the solenoid valve that controls the irrigation nozzle during agricultural irrigation, and the control fitting threshold of the solenoid valve for irrigation spray control at different action times is determined from the coordinated correction feature; the solenoid valve that controls the irrigation nozzle during agricultural irrigation is fault-tolerantly controlled by the action feedback deviation. The present application can monitor the action feedback of the solenoid valve in real time during the control process, identify and correct the control lag, perform precise coordinated correction, and dynamically adjust the control parameters of the solenoid valve, thereby improving the control stability of the irrigation system.

Description

Technical Field

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

[0002] The solenoid valve control system is mainly used to regulate the water flow in agricultural irrigation. By opening and closing the solenoid valve, the on-off of the water flow can be precisely controlled, so as to achieve precise control of the irrigation sprinkler. The solenoid valve consists of an electromagnetic coil and a valve body. When the electromagnetic coil is energized, a magnetic field is generated to drive the valve body to move, thereby realizing the opening and closing of the water flow. This process usually works closely with sensors and control units in the automatic irrigation system. By real-time monitoring of environmental factors (such as soil humidity, meteorological data, etc.), the irrigation parameters are automatically adjusted to ensure that the crops receive the most suitable amount of water.

[0003] However, in the existing solenoid valve control methods for agricultural irrigation, there are problems such as operation lag, insufficient accuracy, and unstable system response in solenoid valve control, which make the spraying amount of the irrigation sprinkler unable to fully match the expectation, resulting in unsatisfactory irrigation effect, water resource waste or insufficient irrigation, thus affecting the growth and yield of crops. Therefore, how to real-time monitor the action feedback during the solenoid valve control process, identify and correct the control lag, perform precise coordination and correction, 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] This application provides a solenoid valve control system and method for agricultural irrigation, which can real-time monitor the action feedback during the solenoid valve control process, identify and correct the control lag, perform precise coordination and correction, and dynamically adjust the control parameters of the solenoid valve to improve the control stability of the irrigation system.

[0005] In the first aspect, this application provides a solenoid valve control method for agricultural irrigation. The control method includes the following steps:

[0006] Collect the control status data of the solenoid valve control switch from the agricultural irrigation control device, and obtain the irrigation spraying amount corresponding to each irrigation sprinkler on the agricultural irrigation control device;

[0007] Collect the actual situation information of the solenoid valve in the agricultural irrigation control device when controlling the irrigation sprinkler for irrigation spraying. According to the actual situation information of the solenoid valve and the control status data, determine the lag tolerance point when the solenoid valve controlling the irrigation sprinkler generates control lag during agricultural irrigation;

[0008] Real-time monitor the action limit range of the solenoid valve during variable spraying control of the irrigation nozzle. Based on the action limit range and the irrigation spraying volume, coordinate and correct the action time of the solenoid valve to obtain the coordination correction characteristics when the solenoid valve controlling the irrigation nozzle in agricultural irrigation has control lag. Furthermore, determine the control fitting threshold of the solenoid valve for irrigation spraying control at different action times according to the coordination correction characteristics;

[0009] Determine the action feedback deviation of the on-off action of the solenoid valve when controlling the irrigation nozzle spraying according to the lag fault tolerance point and the control fitting threshold, and then perform fault tolerance control on the solenoid valve controlling the irrigation nozzle in agricultural irrigation according to the action feedback deviation.

[0010] In this embodiment, collecting the actual situation information of the solenoid valve in the agricultural irrigation control device when controlling the irrigation nozzle for irrigation spraying specifically includes:

[0011] Obtain the dynamic spraying characteristics of the solenoid valve in the agricultural irrigation control device when controlling the irrigation nozzle;

[0012] Determine the elastic fluctuation information of the solenoid valve in the agricultural irrigation control device when controlling the irrigation nozzle;

[0013] Determine the control membership degree of the irrigation nozzle under the control of the solenoid valve according to the elastic fluctuation information;

[0014] Determine the actual situation information of the solenoid valve when the irrigation nozzle performs irrigation spraying according to the dynamic spraying characteristics and the control membership degree.

[0015] In this embodiment, determining the lag fault tolerance point when the solenoid valve controlling the irrigation nozzle in agricultural irrigation has control lag according to the actual situation information of the solenoid valve and the control state data specifically includes:

[0016] Determine the opening and closing action constraints when the solenoid valve controlling the irrigation nozzle in agricultural irrigation has control lag according to the actual situation information of the solenoid valve;

[0017] Determine the spraying category attribute of the irrigation nozzle under the control of the solenoid valve in agricultural irrigation according to the control state data;

[0018] Determine the lag fault tolerance point when the solenoid valve controlling the irrigation nozzle in agricultural irrigation has control lag according to the opening and closing action constraints and the spraying category attribute.

[0019] In this embodiment, real-time monitoring the action limit range of the solenoid valve during variable spraying control of the irrigation nozzle specifically includes:

[0020] Collect the action amplitude change sequence of the solenoid valve during variable spraying control of the irrigation nozzle;

[0021] Determine the control proximity of the solenoid valve during variable spray control of the irrigation nozzle;

[0022] Determine the action limit interval of the monitoring solenoid valve during variable spray control of the irrigation nozzle based on the action amplitude change sequence and the control proximity.

[0023] In this embodiment, coordinating and correcting the action time of the solenoid valve based on the action limit interval and the irrigation spray volume, and obtaining the coordination correction characteristics when the solenoid valve controlling the irrigation nozzle generates a control lag during agricultural irrigation specifically includes:

[0024] Determine the measured action times of the solenoid valve at different opening times according to the action limit interval;

[0025] Determine the coordination correction amount of the solenoid valve during operation according to the measured action times;

[0026] Determine the lag feedback response when the solenoid valve controlling the irrigation nozzle generates a control lag during agricultural irrigation through the irrigation spray volume;

[0027] Determine the coordination correction characteristics when the solenoid valve controlling the irrigation nozzle generates a control lag during agricultural irrigation according to the coordination correction amount and the lag feedback response.

[0028] In this embodiment, determining the control fitting threshold of the solenoid valve during irrigation spray control at different action times from the coordination correction characteristics specifically includes:

[0029] Obtain the control difference information of the solenoid valve during irrigation spray control at different action times;

[0030] Determine the control fitting data of the solenoid valve during irrigation spray control at different action times according to the coordination correction characteristics;

[0031] Determine the control configuration amount of the solenoid valve at different actions through the control fitting data;

[0032] Determine the control fitting threshold of the solenoid valve during irrigation spray control at different action times according to the control difference information and the control fitting data.

[0033] In this embodiment, determining the action feedback deviation of the switch action of the solenoid valve during spray control of the irrigation nozzle based on the lag tolerance point and the control fitting threshold specifically includes:

[0034] Determine the action interaction list of the switch action of the solenoid valve during spray control of the irrigation nozzle according to the lag tolerance point;

[0035] Determine the action trigger information during spray of the irrigation nozzle according to the control fitting threshold;

[0036] Determine the action feedback deviation of the on-off action of the solenoid valve when controlling the irrigation sprinkler to spray according to the action interaction list and the action trigger information.

[0037] 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 control action.

[0038] In this embodiment, the control fitting threshold represents the adjustment error allowed during the solenoid valve control adjustment.

[0039] 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. The control system includes:

[0040] A data acquisition module, configured to collect the control status data of the solenoid valve control switch from the agricultural irrigation control device, and obtain the irrigation spraying amount corresponding to each irrigation sprinkler on the agricultural irrigation control device;

[0041] A lag detection module, configured to collect the actual situation information of the solenoid valve when the solenoid valve in the agricultural irrigation control device controls the irrigation sprinkler to perform irrigation spraying, and determine the lag tolerance point when the solenoid valve for controlling the irrigation sprinkler generates control lag during agricultural irrigation according to the actual situation information of the solenoid valve and the control status data;

[0042] A coordination correction module, configured to monitor in real time the action limit interval when the solenoid valve performs variable spraying control on the irrigation sprinkler, coordinate and correct the action time of the solenoid valve based on the action limit interval and the irrigation spraying amount, obtain the coordination correction feature when the solenoid valve for controlling the irrigation sprinkler generates control lag during agricultural irrigation, and further determine the control fitting threshold when the solenoid valve performs irrigation spraying control at different action times from the coordination correction feature;

[0043] A fault tolerance control module, configured to determine the action feedback deviation of the on-off action of the solenoid valve when controlling the irrigation sprinkler to spray according to the lag tolerance point and the control fitting threshold, and further perform fault tolerance control on the solenoid valve for controlling the irrigation sprinkler during agricultural irrigation from the action feedback deviation.

[0044] The technical solutions provided by the disclosed embodiments of the present application have the following beneficial effects:

[0045] Collect the control status data of the solenoid valve control switch from the agricultural irrigation control device, and obtain the irrigation spray volume corresponding to each irrigation sprinkler on the agricultural irrigation control device; collect the actual situation information of the solenoid valve in the agricultural irrigation control device when controlling the irrigation sprinkler for irrigation spraying, and determine the lag fault tolerance point when the solenoid valve controlling the irrigation sprinkler has control lag during agricultural irrigation according to the actual situation information of the solenoid valve and the control status data; monitor the action limit range of the solenoid valve during variable spray control of the irrigation sprinkler in real time, and coordinate and correct the action time of the solenoid valve based on the action limit range and the irrigation spray volume to obtain the coordinated correction characteristics when the solenoid valve controlling the irrigation sprinkler has 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 characteristics; determine the action feedback deviation of the switch action of the solenoid valve when controlling the irrigation sprinkler spraying according to the lag fault tolerance point and the control fitting threshold, and then perform fault tolerance control on the solenoid valve controlling the irrigation sprinkler during agricultural irrigation according to the action feedback deviation.

[0046] It can be seen that in this application, the problems of control lag, inaccurate valve opening and closing, and operation errors faced by the solenoid valve in actual operation can be effectively compensated; among them, by collecting the control status data of the solenoid valve and the irrigation spray volume of each sprinkler in real time, the working status and spraying volume of the irrigation system can be accurately monitored, and the performance data of the irrigation equipment can be obtained in time; by comprehensively considering the actual situation information and control status data of the solenoid valve, the fault tolerance point of 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; by monitoring in real time and coordinating and correcting the action time of the solenoid valve according to the spray volume and the action limit range, the operation accuracy of the solenoid valve can be improved, and the spraying volume can be dynamically adjusted to ensure that the water volume in 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 switch action, the errors and deviations in system control can be effectively eliminated, ensuring that the solenoid valve performs stably throughout the irrigation process, and finally realizing efficient and accurate water volume distribution and irrigation control.

[0047] 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, identify and correct control lag, perform precise coordinated correction, and dynamically adjust the control parameters of the solenoid valve, improving the control stability of the irrigation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0049] Figure 1 It is a flowchart of the solenoid valve control method for agricultural irrigation provided by the present application;

[0050] Figure 2 It is a schematic flowchart of determining the actual situation information of the solenoid valve provided by the present application;

[0051] Figure 3 It is a schematic flowchart of determining the control fitting threshold provided by the present application;

[0052] Figure 4 It is a system structure diagram of the solenoid valve control system for agricultural irrigation shown in the embodiments of the present application;

[0053] Figure 5 It is a module structure diagram of the solenoid valve control system for agricultural irrigation provided by the present application. Specific Embodiments

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0055] An embodiment of the present application provides a solenoid valve control system and method for agricultural irrigation. The core is to collect the 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 nozzle on the agricultural irrigation control equipment; collect the actual situation information of the solenoid valve in the agricultural irrigation control equipment when controlling the irrigation nozzle for irrigation spraying, and determine the lag tolerance point when the solenoid valve for controlling the irrigation nozzle generates control lag during agricultural irrigation according to the actual situation information of the solenoid valve and the control state data; monitor the action limit interval of the solenoid valve during variable spray control of the irrigation nozzle in real time, and coordinate and correct the action time of the solenoid valve based on the action limit interval and the irrigation spray volume to obtain the coordinated correction characteristics when the solenoid valve for controlling the irrigation nozzle generates control lag during agricultural irrigation, and then determine the control fitting threshold of the solenoid valve during irrigation spray control at different action times according to the coordinated correction characteristics; determine the action feedback deviation of the switch action of the solenoid valve when controlling the irrigation nozzle spraying according to the lag tolerance point and the control fitting threshold, and then perform fault tolerance control on the solenoid valve for controlling the irrigation nozzle during agricultural irrigation according to the action feedback deviation. By adopting the above scheme, the action feedback of the solenoid valve can be monitored in real time during the control process, the control lag can be identified and corrected, accurate coordinated correction can be performed, and the control parameters of the solenoid valve can be dynamically adjusted to improve the control stability of the irrigation system.

[0056] Embodiment 1. To better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the specification drawings and specific implementation manners. Refer to Figure 1 As shown, this figure is an exemplary flowchart of the solenoid valve control method for agricultural irrigation according to this embodiment of the present application. The control method includes the following steps:

[0057] In step S1, collect the 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 nozzle on the agricultural irrigation control equipment.

[0058] In specific implementation, when collecting the control status data of the solenoid valve control switch in the agricultural irrigation control device, a reliable data acquisition system needs to be established. This system consists of a sensor, a data transmission module, and a data storage and processing unit. First, an electric current sensor (such as a Hall current sensor) or a voltage detection module is installed in the control circuit of the solenoid valve to monitor the on-off state of the solenoid valve. When the control system issues an on-off command, the solenoid valve coil is energized or de-energized, and the sensor will detect the current change and convert it into a digital signal, and use the converted digital signal as the control status data. Second, an edge computing gateway or a PLC controller is used to collect this signal in real time and record the timestamp when the control command is issued. To ensure data accuracy, a filtering algorithm (such as mean filtering or Kalman filtering) can be introduced to eliminate signal noise, and an event trigger mechanism (such as current mutation detection) is 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, stored in a time series database (such as InfluxDB), and the control status data is read from the time series database.

[0059] It should be noted that in this application, the control status data represents a data set of the solenoid valve on-off state and its execution time information.

[0060] In addition, in specific implementation, first, a micro flowmeter (such as a turbine flowmeter, an electromagnetic flowmeter, or an ultrasonic flowmeter) is installed at the inlet pipe or the outlet of each irrigation sprinkler to measure the flow rate Q(t) per unit time in real time and collect data. Second, an edge computing gateway or a PLC controller is used to sample the flow rate data at a fixed time interval Δt, and the total irrigation amount is calculated through time integration: , where V is the total irrigation amount, N is the total number of sampling points, represents the flow rate in the i-th unit time. To improve data accuracy, Kalman filtering is used to eliminate noise, and the nozzle-solenoid valve mapping relationship is utilized to ensure that the data corresponds to the control status. The total irrigation amount can be used as the irrigation spray amount, and 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 amount is read from the time series database.

[0061] It should be noted that in this application, the irrigation spray amount refers to the amount of water sprayed through the irrigation sprinkler per unit time.

[0062] In step S2, the actual situation information of the solenoid valve in the agricultural irrigation control device when the solenoid valve controls the irrigation sprinkler for irrigation is collected, and the lag tolerance point when the solenoid valve controlling the irrigation sprinkler has a control lag during agricultural irrigation is determined according to the solenoid valve actual situation information and the control status data.

[0063] Preferably, in this embodiment, the actual situation information of the solenoid valve in the agricultural irrigation control device is collected when the solenoid valve controls the irrigation sprinkler for irrigation spraying, with reference to Figure 2 As shown, this figure is a schematic flow chart for determining the actual situation information of the solenoid valve in some embodiments of this application. The determination of the actual situation information of the solenoid valve in this embodiment can be implemented by the following steps:

[0064] In step S21, obtain the dynamic spraying characteristics of the solenoid valve in the agricultural irrigation control device when controlling the irrigation sprinkler;

[0065] In step S22, determine the elastic fluctuation information of the solenoid valve in the agricultural irrigation control device when controlling the irrigation sprinkler;

[0066] In step S23, determine the control membership degree of the irrigation sprinkler under the control of the solenoid valve according to the elastic fluctuation information;

[0067] In step S24, determine the actual situation information of the solenoid valve when the irrigation sprinkler performs irrigation spraying according to the dynamic spraying characteristics and the control membership degree.

[0068] Specifically, when implementing, first, install a pressure sensor (such as a MEMS pressure sensor) and a flow meter on the pipeline connecting the solenoid valve and the sprinkler, and collect the instantaneous pressure P(t) and the flow rate Q(t) respectively. Record the pressure P(t) and flow rate Q(t) data at the sampling time interval Δt, and extract the short-term change characteristics during the spraying process through wavelet transform or FFT (Fast Fourier Transform), and then calculate the spraying rate R(t). , take the spraying rate as the dynamic spraying characteristic. Then, calculate the variances of the spraying flow rate and pressure, and take the ratio of the variances of the spraying flow rate and pressure as the elastic fluctuation information of the solenoid valve in the agricultural irrigation control device when controlling the irrigation sprinkler. Then, set the flow rate fluctuation, pressure fluctuation, and spraying rate R(t) as input variables, and use fuzzy logic (Fuzzy Logic) to calculate the control membership degree through the input variables. The membership degree of 1 indicates fluctuation and stable spraying, the membership degree of 0.5 indicates slight fluctuation, and the membership degree of 0 indicates severe fluctuation and control failure. Then, use K-means clustering to analyze the three membership degree modes of the sprinkler response, divide them into three categories: normal, slightly abnormal, and severely abnormal. Then, calculate the correlation coefficient between the sprinkler response time and the solenoid valve command, which can be calculated using a correlation function, such as the Pearson correlation coefficient, and take the obtained correlation coefficient as the control membership degree of the irrigation sprinkler under the control of the solenoid valve; finally, use a BP neural network, input the dynamic spraying characteristics and the control membership degree, output the comprehensive actual situation information of the solenoid valve, and take the comprehensive actual situation information as the actual situation information of the solenoid valve, that is, the actual situation information of the solenoid valve = f (dynamic spraying characteristics, control membership degree), where f represents the activation function.

[0069] It should be noted that in this application, the dynamic spraying feature represents the key parameter set of the water flow pressure, flow rate and their changes over time during the spraying process of the irrigation nozzle controlled by the solenoid valve; the elastic fluctuation information represents the short-term fluctuation characteristics of the water flow pressure and flow rate during the spraying process of the irrigation nozzle controlled by the solenoid valve; the control membership degree represents the matching degree of the irrigation nozzle's response to the solenoid valve control; and the solenoid valve actual situation information represents the real-time working state and performance of the solenoid valve during the process of controlling the irrigation nozzle.

[0070] In this embodiment, determining the hysteresis tolerance point when the solenoid valve controlling the irrigation nozzle has a control lag during agricultural irrigation according to the solenoid valve actual situation information and the control state data can be achieved by the following steps:

[0071] Determine the opening and closing action constraints when the solenoid valve controlling the irrigation nozzle has a control lag during agricultural irrigation according to the solenoid valve actual situation information;

[0072] Determine the spraying category attribute of the irrigation nozzle under the control of the solenoid valve during agricultural irrigation according to the control state data;

[0073] Determine the hysteresis tolerance point when the solenoid valve controlling the irrigation nozzle has a control lag during agricultural irrigation according to the opening and closing action constraints and the spraying category attribute.

[0074] In specific implementation, first, using the solenoid valve switch state data and dynamic spraying characteristics obtained previously, identify the response delays when the solenoid valve opens and closes, and analyze the switching behavior of the solenoid valve through modeling. Adopt a response time model (such as an exponential response model) to describe the hysteresis in the switching process. According to the pressure-flow curve, calculate the time delays when the solenoid valve opens and closes, and then through experimental or simulation data, set the maximum response time and the minimum response time. Take the maximum response time and the minimum response time as the constraint values for the opening and closing action constraints, that is, obtain the opening and closing action constraints. For example, set the maximum hysteresis tolerance time and the minimum hysteresis tolerance time, and take the maximum hysteresis tolerance time and the minimum hysteresis tolerance time as the boundaries of the opening and closing action constraints, that is, obtain the opening and closing action constraints when the solenoid valve generates control hysteresis; then, according to the configuration and control parameters of the irrigation sprinkler, the sprinkling category attributes can be divided into constant flow sprinkling, adjustable flow sprinkling, and dynamic adjustment sprinkling. For constant flow sprinkling, the sprinkling volume of the sprinkler does not change with time. For adjustable flow sprinkling, the flow rate and spraying range may change according to the external environment or control instructions. For dynamic adjustment sprinkling, the spraying intensity and angle of the sprinkler will be adjusted according to real-time feedback. Use a flow meter, pressure sensor, meteorological data, etc., combined with the sprinkler type, to determine the sprinkling attributes (such as sprinkling rate, spraying angle, etc.) of each sprinkler in different operating states. According to the collected data, fuzzy classify the sprinkling patterns of different sprinklers at different time points, that is, obtain the sprinkling category attributes of the irrigation sprinkler under the control of the solenoid valve during agricultural irrigation; finally, according to the opening and closing action constraints of the solenoid valve and the sprinkling category attributes, construct a hysteresis tolerance model. Use a fuzzy control algorithm or a neural network model, input the response time hysteresis of the solenoid valve and the spraying characteristic data of the sprinkler, and output the hysteresis tolerance point. Among them, the set hysteresis tolerance function can be a step function, a group decay function, or a linear growth function. Among them, the step function, the group decay function, and the linear growth function include the opening and closing delays of the solenoid valve, and the sprinkling type reflects the spraying requirements of the sprinkler and the flow data.

[0075] It should be noted that in this application, the opening and closing action constraints represent the range of the maximum and minimum response time delays allowed when the solenoid valve is opening or closing; the sprinkling category attributes represent the spraying mode during the control of the irrigation sprinkler; the hysteresis tolerance point represents the maximum response delay time allowed when the solenoid valve controls the sprinkler. Exceeding this time will cause a deviation in the sprinkling volume of the sprinkler.

[0076] In step S3, the action limit interval of the solenoid valve during variable sprinkling control of the irrigation sprinkler is monitored in real time. Based on the action limit interval and the irrigation sprinkling volume, the action time of the solenoid valve is coordinated and corrected to obtain the coordinated correction characteristics when the solenoid valve for controlling the irrigation sprinkler during agricultural irrigation generates control hysteresis. Furthermore, the control fitting threshold of the solenoid valve during irrigation sprinkling control at different action times is determined from the coordinated correction characteristics.

[0077] In this embodiment, the action limit interval for real-time monitoring of the solenoid valve during variable spraying control of the irrigation nozzle can be achieved by the following steps:

[0078] Collect the action amplitude change sequence of the solenoid valve during variable spraying control of the irrigation nozzle;

[0079] Determine the control proximity of the solenoid valve during variable spraying control of the irrigation nozzle;

[0080] Determine the action limit interval for monitoring the solenoid valve during variable spraying control of the irrigation nozzle based on the action amplitude change sequence and the control proximity.

[0081] In specific implementation, first, use a sensor array to monitor the on / off state of the solenoid valve, as well as the flow rate and spraying angle changes of the sprinkler head in real time. Through the sensor data, obtain real-time action amplitude change data, such as the change rate of the flow rate or spraying angle within each time interval. Filter the collected data to remove noise. Then, using time series analysis, the moving average method can be adopted to smooth the data to ensure data stability. By analyzing the data fluctuation amplitude, such as statistical analysis methods, coefficient of variation, etc., an action amplitude change sequence is obtained. Then, according to parameters such as the target flow rate and pressure controlled by the solenoid valve, perform error analysis with the output of the actual irrigation sprinkler head. Use an error function to calculate the percentage of the difference between the target parameters such as flow rate and pressure and the output of the actual irrigation sprinkler head with respect to the target flow rate, pressure, etc., such as the absolute error (AE). Take the percentage of the difference between the target parameters such as flow rate and pressure and the output of the actual irrigation sprinkler head as the error function value. This error function value reflects the control accuracy and response speed of the solenoid valve, and the error function value is used as the control proximity when the solenoid valve performs variable spraying control on the irrigation sprinkler head. Finally, by analyzing the action amplitude change sequence and the 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]. Observe the action amplitude change sequence and find that the solenoid valve changes too quickly at the 3rd and 4th time points (opening from 70% to 85%), which may lead to 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 deteriorates and the error increases at this stage. If the action amplitude changes too quickly and the control proximity drops, narrow the action limit interval to avoid over-adjustment. If the action amplitude is stable and the control proximity is high, the action limit interval can be appropriately widened to improve control flexibility. For example, at time points 3 and 4, because the solenoid valve adjusts too quickly and the control proximity drops, the fuzzy control system determines that the control interval should be shrunk. For example, set the maximum change amplitude of the solenoid valve to 10%, that is, the maximum value allowed within the control area is 75%, instead of 85%. At time point 5, the control proximity rises (0.75), indicating that the control effect is restored, and the action amplitude of the solenoid valve is allowed to be appropriately enlarged. Then, calculate the upper and lower limits of the action limit interval. Take the mean value of the maximum and minimum values in the action amplitude change sequence and the maximum and minimum values in the control proximity respectively, and use the obtained mean values as the upper and lower limits of the action limit interval, that is, obtain the action limit interval when monitoring the solenoid valve for variable spraying control of the irrigation sprinkler head.

[0082] It should be noted that in this application, the action amplitude change sequence represents the fluctuation amplitude of variables such as the spraying flow rate and spraying angle of the sprinkler during the process of the solenoid valve 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 output of the sprinkler; the adjustment range allowed for the solenoid valve to act when the solenoid valve controls the irrigation sprinkler for variable spraying.

[0083] In this embodiment, based on the action limit interval and the irrigation spraying amount, the action time of the solenoid valve is coordinated and corrected to obtain the coordinated correction characteristics when the solenoid valve for controlling the irrigation sprinkler has control lag during agricultural irrigation, which can be achieved by the following steps:

[0084] Determine the measured action times of the solenoid valve at different opening times according to the action limit interval;

[0085] Determine the coordinated correction amount of the solenoid valve during operation according to the measured action times;

[0086] Determine the lag feedback response when the solenoid valve for controlling the irrigation sprinkler has control lag during agricultural irrigation through the irrigation spraying amount;

[0087] Determine the coordinated correction characteristics when the solenoid valve for controlling the irrigation sprinkler has control lag during agricultural irrigation according to the coordinated correction amount and the lag feedback response.

[0088] In specific implementation, first, according to the action limit interval, the opening time of the solenoid valve is divided into different time periods. During the divided time periods, using the flow meter, pressure sensor, and solenoid valve control signal, record the opening and closing actions of the solenoid valve in each time period, count the opening or closing operations of the solenoid valve in each time period, and obtain the measured action times at different opening times of the solenoid valve, that is, obtain the measured action times of the solenoid valve at different opening times; then, use control error functions such as deviation value and error rate to calculate the action correction amount. For example, if the target spray flow rate is 10 L / min and the actual flow rate of the solenoid valve within the opening time of 5 s is 8 L / min, then the deviation value is 10 - 8 = 2 L / min, and the error rate is 2 / 10 = 20%. Then, use statistical methods (such as the least squares method) to fit the correction amount model to ensure that the action correction amount matches the actual control error. Take the result output by the fitted correction amount model as the coordination correction amount when the solenoid valve is working. For example, the control correction amounts corresponding to the opening times of 2 s, 4 s, 6 s, and 8 s are 1.5 L / min, 1.2 L / min, 0.8 L / min, and 0.5 L / min respectively. Using the least squares method to fit R = at + b, where R represents the coordination correction amount, a is the correction coefficient, and b represents the initial correction amount, the fitted model R = -0.15t + 1.8 is obtained. When the solenoid valve operates for 5 s, the model calculates R = -0.15(5) + 1.8 = 1.05 L / min, that is, the coordination correction amount; then, the spraying amount of the irrigation nozzle is monitored in real time through the flow meter or pressure sensor. Match the spraying amount with the control signal and its opening and closing time of the solenoid valve to obtain the spraying feedback data of the nozzle. For example, the control signal (opening and closing time) of the solenoid valve is 4 seconds, and the actual spraying amount is 12 L / min; if the expected spraying amount of the control signal is 10 L / min, the control error is 12 - 10 = 2 L / min. Adjust the opening and closing time according to this error. For example, increase the opening and closing time by 1 second, and the adjusted spraying amount is 10 L / min. Compare the difference between the actual spraying amount and the expected spraying amount, and take the difference between the actual spraying amount and the expected spraying amount as the lag feedback response when the solenoid valve controlling the irrigation nozzle has control lag during agricultural irrigation. For example, the expected spraying amount is 10 L / min, the actual spraying amount is 8 L / min, and the difference between the two is 2 L / min, indicating that there is a lag in the solenoid valve. According to the control lag feedback model, the lag feedback response is the difference value of 2 L / min, reflecting the lag effect of the solenoid valve. To compensate for the lag, the solenoid valve needs to adjust the opening and closing time or the control signal. For example, by increasing the opening and closing time by 1 second, the spraying amount is increased to the expected 10 L / min; finally, combine the coordination correction amount and the lag feedback response to calculate the coordination correction characteristics required by the solenoid valve. The coordination correction amount is 1.2 L / min, and the lag feedback response is 2 L / min. To eliminate the lag and improve the irrigation accuracy, the two need to be combined.The weighted average method can be used to calculate the correction feature of the solenoid valve, that is, the coordinated correction feature = 0.6 × coordinated correction amount + 0.4 × lag feedback response, where 0.6 and 0.4 are weight coefficients that can be obtained through experiments. Substituting the values: coordinated correction feature = 0.6 × 1.2 + 0.4 × 2 = 0.72 + 0.8 = 1.52 L / min.

[0089] It should be noted that in this application, the measured number of operations represents the number of times the solenoid valve actually opens and closes within a given time range for each specific opening time (the duration of the solenoid valve opening); the coordinated correction amount represents the amount of compensation for the solenoid valve control lag after adjusting the working time of the solenoid valve; the lag feedback response represents the difference between the actual output and the expected output of the solenoid valve controlling the sprinkler head when the solenoid valve controls the irrigation sprinkler head; the coordinated correction feature represents the correction amount for eliminating the lag and optimizing the irrigation spraying effect by adjusting the control parameters based on the coordinated correction amount and the lag feedback response of the solenoid valve action time.

[0090] Preferably, in this embodiment, the control fitting threshold for the solenoid valve to perform irrigation spray control at different action times is determined by the coordinated correction feature. Refer to Figure 3 As shown, this figure is a schematic flow chart for determining the control fitting threshold in some embodiments of this application. The control fitting threshold in this embodiment can be implemented by the following steps:

[0091] In step S31, obtain the control difference information when the solenoid valve performs irrigation spray control at different action times;

[0092] In step S32, determine the control fitting data when the solenoid valve performs irrigation spray control at different action times according to the coordinated correction feature;

[0093] In step S33, determine the control configuration amount of the solenoid valve at different action times through the control fitting data;

[0094] In step S34, determine the control fitting threshold when the solenoid valve performs irrigation spray control at different action times according to the control difference information and the control fitting data.

[0095] In specific implementation, first, monitor the actual control time of the solenoid valve and the spraying amount of the irrigation sprinkler, and use a flowmeter or a pressure sensor to collect the spraying data of the sprinkler. Subtract the actual spraying amount from the target spraying amount, and use the result of the subtraction as the difference data at each action time. The difference data includes the excess or deficiency 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 controls the irrigation spray at different action times. Next, use linear regression to calculate the control fitting data at different action times based on the coordination correction feature and the control difference information. For example, at different control times (such as 5 seconds, 10 seconds, 15 seconds), the coordination correction features are 1.2 L / min, 1.5 L / min, 1.8 L / min respectively, and the control difference information (the difference between the actual spraying amount and the expected spraying amount) is 0.1 L / min, 0.2 L / min, 0.3 L / min respectively. The control fitting data y = ax + b is obtained by fitting the data through a linear regression model, where y is the control difference information, x is the coordination correction feature, and a and b are regression coefficients calculated by the least squares method. Then, calculate the control configuration amount at each action time according to the control fitting data. When the control action time is 10 seconds and the coordination correction feature is 1.5 L / min, the control difference obtained according to the regression formula is 0.2 L / min. 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 calculation formula for the control configuration amount C is: C = control difference × K, where K is a constant factor representing the correction coefficient of the system, assumed to be 2. Then at 10 seconds, the control configuration amount is: C = 0.2 L / min × 2 = 0.4 L / min, that is, the control configuration amounts of the solenoid valve at different actions are obtained. Finally, combine the control difference information and the control fitting data, and use the error analysis method to calculate the control fitting threshold at each action time. At different action times, assume that the control difference information is 0.1 L / min, 0.2 L / min, and 0.3 L / min, and the control fitting data are 1.2 L / min, 1.5 L / min, and 1.8 L / min respectively. Next, calculate the error at each action time, and the error is equal to the control difference minus the control fitting data. For the 5-second action time, the error is 0.1 - 1.2 = -1.1 L / min, for the 10-second action time, the error is 0.2 - 1.5 = -1.3 L / min, and for the 15-second action time, the error is 0.3 - 1.8 = -1.5 L / min. Then, calculate the standard deviation (σ) of the error through the error analysis method. According to the average value (μ) and the standard deviation (σ) of the error, the control fitting threshold (T) can be calculated using the following formula: T = μ + 2σ, that is, the control fitting thresholds of the solenoid valve when controlling the irrigation spray at different action times are obtained.

[0096] It should be noted that in this 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 through coordinated correction features 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 to spray; the control fitting threshold represents the allowable adjustment error when the solenoid valve control is adjusted.

[0097] In step S4, based on the hysteresis fault tolerance point and the control fitting threshold, the action feedback deviation of the on-off action of the solenoid valve when controlling the irrigation sprinkler to spray is determined, and then the solenoid valve for controlling the irrigation sprinkler during agricultural irrigation is fault-tolerantly controlled by the action feedback deviation.

[0098] In this embodiment, determining the action feedback deviation of the on-off action of the solenoid valve when controlling the irrigation sprinkler to spray based on the hysteresis fault tolerance point and the control fitting threshold can be achieved by the following steps:

[0099] Determine the action interaction list of the on-off action of the solenoid valve when controlling the irrigation sprinkler to spray according to the hysteresis fault tolerance point;

[0100] Determine the action trigger information when the irrigation sprinkler sprays according to the control fitting threshold;

[0101] Determine the action feedback deviation of the on-off action of the solenoid valve when controlling the irrigation sprinkler to spray according to the action interaction list and the action trigger information.

[0102] In specific implementation, first, according to the hysteresis fault tolerance point, determine the fault tolerance range for each solenoid valve switching action, that is, the allowable error interval. Form a time series from the allowable error interval and use this time series as the action interaction list. What the action interaction list records is the corresponding relationship between the switching action of the solenoid valve and the actual spraying effect. Each interaction point contains a control action (such as the opening or closing moment of the solenoid valve switch) and the corresponding spraying amount of the irrigation nozzle; then, use the control fitting threshold to define the trigger threshold of the irrigation nozzle at different spraying amounts. The control fitting threshold is 0.5 L / min, the expected spraying amount is 5 L / min, the actual spraying amount is 5.4 L / min, and the error is 0.4 L / min. In this case, the actual error is less than the control fitting threshold, so there is no need to trigger a correction action. If the error exceeds 0.5 L / min (for example, the actual spraying amount is 5.7 L / min and the error is 0.7 L / min), then it exceeds the trigger threshold, and the system will trigger a correction action to adjust the switching time of the solenoid valve to ensure that the spraying amount is close to the target value. By comparing the actual irrigation spraying amount and the control fitting threshold, determine the trigger point, that is, the expected irrigation spraying amount is 10 L / min and the control fitting threshold is 0.5 L / min. If the actual spraying amount is 10.3 L / min and the error is 0.3 L / min, which is lower than the control fitting threshold, the system maintains the current settings and there is no need to trigger a correction action. But if the actual spraying amount is 10.8 L / min and the error is 0.8 L / min, which exceeds the control fitting threshold, the system identifies it as a trigger point and starts the correction mechanism, that is, when the solenoid valve should perform the switching operation. When the spraying amount of the irrigation nozzle exceeds or is lower than the set threshold value, record the action trigger information at that moment. The action trigger information includes the trigger moment, the spraying amount, and the state of the solenoid valve action, that is, obtain 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 amount with the target spraying amount, calculate the action feedback deviation for each action. The target spraying amount is 10 L / min and the current spraying amount is 9.8 L / min, then the action feedback deviation is -0.2 L / min. According to the action interaction list, the system calculates the action feedback deviation based on the error between the current spraying amount and the target spraying amount. If the error exceeds the preset fault tolerance range, then trigger a correction action. For example, if the error exceeds 0.5 L / min, the system adjusts the switching time of the solenoid valve to reduce the action feedback deviation.

[0103] It should be noted that in this 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 factors that trigger the switching 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.

[0104] In specific implementation, the fault-tolerant control of the solenoid valve for controlling the irrigation nozzle during agricultural irrigation by the action feedback deviation can be achieved in the following manner: First, obtain the action feedback deviation of the solenoid valve through the aforementioned steps, that is, the difference between the actual spraying amount and the expected spraying amount after each action of the solenoid valve. According to the magnitude of the deviation, the fault-tolerant control algorithm (such as PID control, fuzzy control, etc.) begins to take effect. The fault-tolerant control algorithm adjusts the control signal of the solenoid valve (such as voltage, switching time, etc.) to correct the control action in real time. Second, adopt a dynamic adjustment strategy to perform online correction based on the feedback data obtained in real time. Assuming 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 feedback each time, so that the spraying amount each time is as close as possible to the target value. In addition, fault-tolerant correction technology can be adopted. Through the redundant design and self-calibration ability of the system, when a fault occurs or the performance degrades in the solenoid valve hardware, it will automatically switch to the standby valve or adjust the valve parameters, thereby further reducing the system error and ensuring the stability and efficiency of the irrigation process.

[0105] In addition, it should be noted that for reference Figure 4As shown in the figure, this figure is the system structure diagram of the solenoid valve control system for agricultural irrigation according to this embodiment of the present application. The system structure includes: Air compressor: Provides compressed air, which serves as the power source of the system and is used to drive other components. Pressure regulating valve: Regulates the pressure of the compressed air to ensure that the system operates at an appropriate 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 actuating device. Medicine tank: Stores liquid fertilizers or pesticides required for irrigation and precisely dispenses them through the system. Pressure control device: Monitors and regulates the pressure in the system to ensure stable pressure during irrigation. Solenoid valve control switch acquisition device: Acquires the status information of the solenoid valve and transmits this information to the electronic control unit. Bus transceiver: Responsible for the communication between components in the system to ensure data transmission and reception. Irrigation actuating device: Executes specific irrigation operations according to the instructions of the control unit. Sprinkler head: Sprays water and liquid medicine evenly onto the crops to achieve irrigation and fertilization. Solenoid valve: Controls the on / off of water flow and liquid medicine to ensure precise flow control. Control switch: Manually or automatically controls the start / stop and operation mode of the system. Control system: Integrates all control functions, coordinates the work of each component, and ensures the efficient operation of the system. In addition, this system structure diagram shows the information flow and cooperation relationship between each component. 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 the pressure data from the pressure control device and the status information from the solenoid valve control switch acquisition device, and communicates with other components through the bus transceiver. When the system starts, the control switch sends an instruction to the electronic control unit, which sends control signals to the irrigation actuating device and the solenoid valve according to the preset irrigation requirements. The solenoid valve adjusts the flow of water and liquid medicine according to the instruction to ensure precise irrigation and fertilization. At the same time, the liquid fertilizer or pesticide in the medicine tank is mixed with the water flow through the system and evenly sprayed onto the crops via the sprinkler head. During the whole process, the pressure control device continuously monitors the system pressure to ensure its operation within a safe range. The bus transceiver is responsible for the real-time data transmission between components to ensure the efficient coordination of the system.

[0106] It can be seen that in the present application, the problems of control lag, inaccurate valve opening and closing, and operation error faced by the solenoid valve in actual operation can be effectively compensated; among them, by collecting the control state data of the solenoid valve and the irrigation spray volume of each sprinkler in real time, the working state and spray volume of the irrigation system can be accurately monitored, and the performance data of the irrigation equipment can be obtained in a timely manner; by integrating the actual situation information and control state data of the solenoid valve, the fault tolerance points of 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; by monitoring in real time and coordinating and correcting the action time of the solenoid valve according to the spray volume and action limit interval, the operation accuracy of the solenoid valve can be improved, the spray volume can be dynamically adjusted, and the water volume during irrigation can be ensured to match the actual demand; according to the lag fault tolerance points and control fitting thresholds, by correcting the feedback deviation of the solenoid valve switch action, the errors and deviations in system control can be effectively eliminated, ensuring that the solenoid valve performs stably throughout the irrigation process, and finally realizing efficient and accurate water volume distribution and irrigation control.

[0107] In summary, the technical solution adopted in the present application can monitor the action feedback of the solenoid valve in real time during the control process, identify and correct control lag, perform precise coordination and correction, and dynamically adjust the control parameters of the solenoid valve to improve the control stability of the irrigation system.

[0108] Embodiment 2, the present application provides a solenoid valve control system for agricultural irrigation, referring to Figure 5 As shown in the figure, which is a schematic diagram of the solenoid valve control system for agricultural irrigation according to the present embodiment of the present application, the control system includes:

[0109] A data acquisition module 100, configured 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 sprinkler on the agricultural irrigation control device;

[0110] A lag detection module 200, configured to collect the actual situation information of the solenoid valve in the agricultural irrigation control device when controlling the irrigation sprinkler for irrigation spraying, and determine the lag fault tolerance point when the solenoid valve for controlling the irrigation sprinkler generates control lag during agricultural irrigation according to the actual situation information of the solenoid valve and the control state data;

[0111] A coordination correction module 300, configured to monitor in real time the action limit interval of the solenoid valve when performing variable spray control on the irrigation sprinkler, coordinate and correct the action time of the solenoid valve based on the action limit interval and the irrigation spray volume, obtain the coordination correction characteristics when the solenoid valve for controlling the irrigation sprinkler generates 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 coordination correction characteristics;

[0112] The fault-tolerant control module 400 is configured to determine the action feedback deviation of the solenoid valve during the on / off operation for controlling the irrigation nozzle spraying based on the hysteretic fault-tolerant point and the control fitting threshold, and then perform fault-tolerant control on the solenoid valve for controlling the irrigation nozzle during agricultural irrigation according to the action feedback deviation.

[0113] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams can be implemented by computer program instructions, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can also be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices generate means for implementing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0114] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. This program can be stored in a computer-readable storage medium, which includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM), or other optical disc memories, magnetic disk memories, tape memories, or any other medium that can be used to carry or store data and is computer-readable.

[0115] It should also be noted that the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent in such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, commodity or device comprising the element.

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 controlling 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, wherein the hysteresis fault tolerance point indicates the maximum response delay time allowed when the solenoid valve controls the sprinkler, and exceeding this time will cause the sprinkler spray amount deviation; Wherein, determining 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 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; Determine, according to the opening and closing action constraints and the spray category attributes, a hysteresis fault tolerance point when a solenoid valve controlling an irrigation sprinkler produces a control hysteresis during agricultural irrigation; Monitor the action limit interval of the solenoid valve when it performs variable spraying control on the irrigation sprinkler in real time, coordinate and correct the action time of the solenoid valve based on the action limit interval and the irrigation spraying amount, and 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 of the solenoid valve when it performs irrigation spraying control at different action times according to the coordinated correction feature, wherein the action limit interval represents the adjustment range of the solenoid valve when the solenoid valve controls the irrigation sprinkler for variable spraying, the coordinated correction feature represents the correction amount of adjusting the control parameters to eliminate lag and optimize the irrigation spraying effect, and the control fitting threshold represents the adjustment error allowed when the solenoid valve control is adjusted; Among them, 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; Determine the action limit interval of the monitoring solenoid valve when performing variable spray control on the irrigation sprinkler through the action amplitude change sequence and the control proximity; Among them, the action amplitude variation sequence represents the fluctuation amplitude of the sprinkler spray flow rate and sprinkler angle in the process of the solenoid valve controlling the irrigation sprinkler, and the control proximity represents the degree of proximity between the target value controlled by the solenoid valve and the actual sprinkler output; Among them, the maximum value and the minimum value in the action amplitude sequence are averaged with the maximum value and the minimum value 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; 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; Determine, according to the coordination correction amount and the hysteresis feedback response, the coordination correction feature when the solenoid valve controlling the irrigation nozzle generates control hysteresis during agricultural irrigation; 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; Determine, according to the control difference information and the control fitting data, a control fitting threshold when the solenoid valve performs irrigation spraying control at different action times; Determine the action feedback deviation of the switch action of the solenoid valve when controlling the irrigation sprinkler nozzle according to the hysteresis fault tolerance point and the control fitting threshold, and then perform fault tolerance control on the solenoid valve controlling the irrigation sprinkler nozzle during agricultural irrigation according to the action feedback deviation, wherein the action feedback deviation represents the difference between the actual spraying amount of the sprinkler nozzle and the target spraying amount after the solenoid valve control action; 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.

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; Among them, 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; 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 system for agricultural irrigation, used to execute a solenoid valve control method for agricultural irrigation as claimed in any one of claims 1 to 2, 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.

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