Potassium magnesium sulfate synergistic application mechanism optimization method

Abstract

The invention discloses a potash magnesium sulphate synergistic application mechanism optimization method, and relates to the field of intelligent agricultural fertilization control. According to the method, growth characteristic parameters such as the fruit weight gain rate and the root distribution depth of the citrus reiculata Blanco are collected in real time, and the fertilization amount is calculated and dynamically adjusted in combination with the T-S fuzzy model, so that the fertilization amount can accurately meet the growth requirements of crops, and excessive fertilization or insufficient fertilization is avoided.

Description

Technical Field

[0001] The invention relates to the field of intelligent agricultural fertilization control, and specifically to a method for optimizing the coordinated application mechanism of potassium sulfate and magnesium sulfate. Background Art

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

[0003] Although existing technologies have made some progress in precision fertilization, there are still many defects, especially in the accuracy of fertilizer control and real-time feedback adjustment capabilities. Traditional fertilization methods often rely on fixed fertilizer formulas and soil test results, but these methods usually cannot reflect the dynamic changes of nutrients in the soil and the actual needs of crop growth in a timely manner. Potassium magnesium sulfate fertilizer, as a key compound fertilizer, plays an important role in the growth of fruit trees, but its fertilizer control often lacks flexibility and timeliness, resulting in unstable fertilization effects.

[0004] Existing technologies do not provide sufficient dynamic monitoring of key growth indicators such as root distribution depth and fruit weight gain rate. Root distribution depth is the basis for crops to absorb water and nutrients, which directly affects the application effect of potassium magnesium sulfate fertilizer. However, traditional technologies usually only rely on soil nutrient testing and the overall growth status of crops, and fail to fully consider the impact of root distribution depth on fertilization effect. The dynamic changes in root distribution depth will directly affect the nutritional needs of crops, so ignoring this factor will lead to uneven fertilization and even affect the normal growth of crops. Summary of the invention

[0005] The present invention proposes a method for optimizing the synergistic application mechanism of potassium sulfate and magnesium sulfate, and introduces a combination of a single-stage inverted pendulum model and a TS fuzzy logic model, so that the amount of fertilizer can accurately match the growth needs of crops, avoiding over-fertilization or under-fertilization.

[0006] Among them, a method for optimizing the mechanism of coordinated application of potassium sulfate and magnesium sulfate is characterized by comprising the following steps: S1. Collect characteristic parameters of soil and Wogan growth, and normalize the characteristic parameters. The characteristic parameter of the soil is the root distribution depth, and the characteristic parameter of the Wogan growth is the fruit weight gain rate; S2. Based on the collected characteristic parameters, the single-stage inverted pendulum model is combined to perform relationship mapping, and the root distribution depth and fruit weight gain rate are used as inputs, combined with the TS model, to output the corresponding fertilizer amount; S3. According to the output of the TS model, adjust the amount of fertilizer to control, and collect new soil and Wogan growth characteristic parameters in real time as new model inputs, TS model updates the amount of fertilizer in real time according to the iterative input of new soil and Wogan growth characteristic parameters; Wherein, the step S2 specifically includes the following sub-steps: S201. According to the angle and angular velocity of the inverted pendulum in the single-stage inverted pendulum physical model, the input characteristic parameters are mapped, the angle of the inverted pendulum corresponds to the deviation of the growth of Wogan, and the angular velocity corresponds to the growth rate of Wogan; S202. Constructing fuzzy rules of root distribution depth and fruit weight gain rate according to the mapping relationship; S203. Setting the membership function of the angle and angular velocity to quantify the fuzzy rules; S204. Calculate the amount of fertilizer using the TS model based on the root distribution depth and fruit weight gain rate.

[0007] Furthermore, in the step S201, the input characteristic parameters are specifically mapped through a mapping function, including a mapping relationship between the root distribution depth and the inverted pendulum angle and a mapping relationship between the fruit weight gain rate and the inverted pendulum angular velocity.

[0008] Furthermore, the mapping relationship between the root distribution depth and the inverted pendulum angle and the mapping relationship between the fruit weight gain rate and the inverted pendulum angular velocity are specifically as follows: ; Among them, the Indicates the root distribution depth, represents the system parameter that controls the sensitivity of the root distribution depth to the change of the inverted pendulum angle. represents the nonlinear adjustment coefficient that controls the rate at which the root distribution depth changes with the angle. and represent the offset parameters for adjusting the root distribution depth and the fruit weight gain rate, respectively. It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the deviation of the growth of Wogan. represents the fruit weight gain rate, represents the system parameter that controls the sensitivity of the fruit weight gain rate to the change of the inverted pendulum angular velocity. represents the nonlinear adjustment coefficient for controlling the rate at which the fruit weight gain rate changes with the angular velocity, It represents the angular velocity in the inverted pendulum model, which is used to reflect the growth rate of the plant, that is, the growth rate of the mandarin orange.

[0009] Furthermore, in step S202, the fuzzy rule is specifically: Rule 1: If the deviation of the orange's growth is greater than the set angle threshold interval and the orange's growth rate is less than the set angular velocity threshold interval, the amount of fertilizer applied remains unchanged; Rule 2: If the deviation of the orange's growth is greater than the set angle threshold interval and the orange's growth rate is greater than the set angular velocity threshold interval, the amount of fertilizer applied will increase; Rule 3: If the deviation of the orange growth is less than the set angle threshold interval and the orange growth rate is less than the set angular velocity threshold interval, the amount of fertilizer applied is reduced; Rule 4: If the deviation of the orange's growth is less than the set angle threshold interval and the orange's growth rate is greater than the set angular velocity threshold interval, the amount of fertilizer applied remains unchanged; Rule 5: If the deviation of the orange growth is within the set angle threshold range and the orange growth rate is greater than the set angular velocity threshold range, the amount of fertilizer applied will increase; Rule 6: If the deviation of the orange growth is within the set angle threshold range and the orange growth rate is less than the set angular velocity threshold range, the amount of fertilizer applied is reduced; Rule 7: If the deviation of the orange growth is within the set angle threshold range and the orange growth rate is within the set angular velocity threshold range, the amount of fertilizer applied remains unchanged; Rule 8: If the deviation of the orange's growth is greater than the set angle threshold interval and the orange's growth rate is within the set angular velocity threshold interval, the amount of fertilizer applied will increase; Rule 9: If the growth deviation of the orange is less than the set angle threshold interval and the growth rate of the orange is within the set angular velocity threshold interval, the amount of fertilizer applied is reduced.

[0010] Furthermore, in step S203, the angle membership function specifically includes the following form: When the angle is less than the set angle threshold interval, the plant's growth is balanced, and a low-slope triangle membership function is established; When the angle is within the set angle threshold range, the plant growth deviates from the balance to a moderate degree, and a trapezoidal membership function is established; When the angle is greater than the set angle threshold interval, the plant growth deviation is large, and a triangle membership function with a high slope is established.

[0011] Furthermore, in step S203, the membership function of the angular velocity specifically includes the following form: When the angular velocity is less than the set angular velocity threshold interval, it means that the plant grows slowly, and a low-slope triangular membership function is established; When the angular velocity is within the set angular velocity threshold range, it means that the plant growth rate is moderate, and a trapezoidal membership function is established; When the angular velocity is greater than the set angular velocity threshold interval, it means that the plant grows fast, and a triangular membership function with a high slope is established.

[0012] Furthermore, the low-slope triangle membership function is specifically expressed as: For the triangle membership function with low slope of the angle, that is: ; Among them, the represents the small angle membership function, It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the deviation of the growth of Wogan. Indicates the maximum value of a small angle, that is, when the angle is below this value, the value of the membership function is 1; For the low slope triangular membership function of angular velocity, that is: ; Among them, the represents the slow angular velocity membership function, represents the angular velocity in the inverted pendulum model, which is used to reflect the rate of plant growth, that is, the growth rate of Wogan. Indicates the upper limit of the angular velocity. When the angular velocity is less than or equal to this value, the membership degree is 1.

[0013] Furthermore, the trapezoidal membership function is specifically expressed as: For the trapezoidal membership function of the angle, that is: ; Among them, the represents the medium angle membership function, It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the deviation of the growth of Wogan. represents the lower limit of the medium angle interval, represents the upper limit of the medium angle interval, Indicates the high value of the angle. When the angle exceeds this value, the membership is 0; For the trapezoidal membership function of angular velocity, that is: ; Among them, the represents the medium angular velocity membership function, represents the angular velocity in the inverted pendulum model, which is used to reflect the rate of plant growth, that is, the growth rate of Wogan. Indicates the lower limit of the medium rate. Indicates the upper limit of the medium rate. Indicates the maximum value of the velocity. When the angular velocity exceeds this value, the membership is 0.

[0014] Furthermore, the high-slope triangle membership function is specifically expressed as: For the high slope triangular membership function of angular velocity, that is: ; Among them, the represents the large angle membership function, Indicates the starting value of the high angle interval. Indicates the maximum value of the large angle. When the angle exceeds this value, the membership degree is 1. It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the growth deviation of Wogan; For a triangle with a high slope of angle, the membership function is: ; Among them, the represents the fast angular velocity membership function, represents the angular velocity in the inverted pendulum model, which is used to reflect the rate of plant growth, that is, the growth rate of Wogan. Indicates the maximum value of the fast angular velocity. When the angular velocity exceeds this value, the membership degree is 1. Indicates the threshold value of angular velocity.

[0015] Furthermore, in step S204, the amount of fertilizer applied is calculated by the TS model as follows: ; Among them, the Indicates that represents the membership function value of the angle and angular velocity corresponding to the i-th fuzzy rule at a certain time t, wherein i represents the number index of the fuzzy rule, represents the angular velocity in the inverted pendulum model, which is used to reflect the rate of plant growth, that is, the growth rate of Wogan. It represents the angle of the inverted pendulum model, which is used to reflect the degree to which the plant growth load deviates from the equilibrium state, that is, the growth deviation of the Wogan.

[0016] The beneficial effects of the invention are: The present invention collects growth characteristic parameters of mandarin oranges such as fruit weight gain rate and root distribution depth in real time, and combines the TS fuzzy model to calculate and dynamically adjust the amount of fertilizer, so that the amount of fertilizer can accurately match the growth needs of crops and avoid over-fertilization or under-fertilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A method flow chart of a method for optimizing the mechanism of synergistic application of potassium sulfate and magnesium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following.

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative work are within the scope of protection of the present invention. It should be noted that relational terms such as the terms "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0021] Moreover, the terms "comprises," "comprising," or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or machine that includes a list of elements includes not only those elements, but also other elements not expressly listed, or elements inherent to such process, method, article, or machine. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or machine that includes the element.

[0022] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0023] Among them, Figure 1, a method for optimizing the mechanism of coordinated application of potassium sulfate and magnesium sulfate, characterized in that it comprises the following steps: S1. Collect characteristic parameters of soil and Wogan growth, and normalize the characteristic parameters. The characteristic parameter of the soil is the root distribution depth, and the characteristic parameter of the Wogan growth is the fruit weight gain rate; S2. Based on the collected characteristic parameters, the single-stage inverted pendulum model is combined to perform relationship mapping, and the root distribution depth and fruit weight gain rate are used as inputs, combined with the TS model, to output the corresponding fertilizer amount; S3. According to the output of the TS model, adjust the amount of fertilizer to control, and collect new soil and Wogan growth characteristic parameters in real time as new model inputs, TS model updates the amount of fertilizer in real time according to the iterative input of new soil and Wogan growth characteristic parameters; Wherein, the step S2 specifically includes the following sub-steps: S201. According to the angle and angular velocity of the inverted pendulum in the single-stage inverted pendulum physical model, the input characteristic parameters are mapped, the angle of the inverted pendulum corresponds to the deviation of the growth of Wogan, and the angular velocity corresponds to the growth rate of Wogan; S202. Constructing fuzzy rules of root distribution depth and fruit weight gain rate according to the mapping relationship; S203. Setting the membership function of the angle and angular velocity to quantify the fuzzy rules; S204. Calculate the amount of fertilizer using the TS model based on the root distribution depth and fruit weight gain rate.

[0024] Furthermore, in the step S201, the input characteristic parameters are specifically mapped through a mapping function, including a mapping relationship between the root distribution depth and the inverted pendulum angle and a mapping relationship between the fruit weight gain rate and the inverted pendulum angular velocity.

[0025] Specifically, the root distribution depth (i.e., "growth deviation") reflects the vertical distribution of plant roots in the soil. The root depth is closely related to the plant's ability to absorb water, nutrients, and adapt to the environment. A shallow root distribution depth means that the plant is in a restricted area of ​​soil resources, and the roots fail to grow downward sufficiently, which may cause difficulties for the plant in absorbing water and nutrients. The growth rate (fruit weight gain rate) reflects the growth process of the plant, especially the speed of fruit development. The fruit weight gain rate is an important growth indicator, representing the weight growth of the fruit of the plant over a period of time, and is usually closely related to the plant's nutrient absorption, metabolic capacity, and environmental conditions.

[0026] Furthermore, the mapping relationship between the root distribution depth and the inverted pendulum angle and the mapping relationship between the fruit weight gain rate and the inverted pendulum angular velocity are specifically as follows: ; Among them, the Indicates the root distribution depth, represents the system parameter that controls the sensitivity of the root distribution depth to the change of the inverted pendulum angle. represents the nonlinear adjustment coefficient that controls the rate at which the root distribution depth changes with the angle. and represent the offset parameters for adjusting the root distribution depth and the fruit weight gain rate, respectively. It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the deviation of the growth of Wogan. represents the fruit weight gain rate, represents the system parameter that controls the sensitivity of the fruit weight gain rate to the change of the inverted pendulum angular velocity. represents the nonlinear adjustment coefficient for controlling the rate at which the fruit weight gain rate changes with the angular velocity, It represents the angular velocity in the inverted pendulum model, which is used to reflect the growth rate of the plant, that is, the growth rate of the mandarin orange.

[0027] Specifically, an inverted pendulum is a typical physical system, which is usually used to describe an object with unstable equilibrium (for example, the equilibrium state of a plant during growth). In this model, the "growth deviation" of a plant corresponds to the angle of an inverted pendulum, indicating the degree to which the root and fruit growth of the plant deviate from the equilibrium state. The root distribution depth reflects the penetration depth of the root system in the soil, which affects the water and nutrient absorption capacity of the plant; the deeper the root system depth, the larger the deviation angle of the growth state of the mandarin orange (i.e., the growth deviation), and the root distribution depth is converted into an angle in the inverted pendulum model through a specific mapping function (for example, a linear or nonlinear relationship). Further, the fruit weight gain rate is an important indicator for measuring the growth rate of plant fruits, which directly affects the growth rate of plants. The greater the fruit weight gain rate, the greater the growth rate (i.e., the angular velocity of the inverted pendulum) will also increase, resulting in a change in the angular velocity. The fruit weight gain rate is converted into the angular velocity in the inverted pendulum model through a mapping function (for example, a linear or nonlinear relationship).

[0028] Furthermore, in step S202, the fuzzy rule is specifically: Rule 1: If the deviation of the orange's growth is greater than the set angle threshold interval and the orange's growth rate is less than the set angular velocity threshold interval, the amount of fertilizer applied remains unchanged; Rule 2: If the deviation of the orange's growth is greater than the set angle threshold interval and the orange's growth rate is greater than the set angular velocity threshold interval, the amount of fertilizer applied will increase; Rule 3: If the deviation of the orange growth is less than the set angle threshold interval and the orange growth rate is less than the set angular velocity threshold interval, the amount of fertilizer applied is reduced; Rule 4: If the deviation of the orange's growth is less than the set angle threshold interval and the orange's growth rate is greater than the set angular velocity threshold interval, the amount of fertilizer applied remains unchanged; Rule 5: If the deviation of the orange growth is within the set angle threshold range and the orange growth rate is greater than the set angular velocity threshold range, the amount of fertilizer applied will increase; Rule 6: If the deviation of the orange growth is within the set angle threshold range and the orange growth rate is less than the set angular velocity threshold range, the amount of fertilizer applied is reduced; Rule 7: If the deviation of the orange growth is within the set angle threshold range and the orange growth rate is within the set angular velocity threshold range, the amount of fertilizer applied remains unchanged; Rule 8: If the deviation of the orange's growth is greater than the set angle threshold interval and the orange's growth rate is within the set angular velocity threshold interval, the amount of fertilizer applied will increase; Rule 9: If the growth deviation of the orange is less than the set angle threshold interval and the growth rate of the orange is within the set angular velocity threshold interval, the amount of fertilizer applied is reduced.

[0029] Specifically, fuzzy logic is a mathematical tool for dealing with uncertainty and ambiguity, and is applicable in plant growth optimization. Through fuzzy logic, complex and uncertain growth conditions (such as changes in root depth and fruit weight gain rate) are modeled and the corresponding fertilizer amount is output. A set of fuzzy rules are formulated based on the root distribution depth and fruit weight gain rate (angle and angular velocity of the inverted pendulum model), which reflect the relationship between the growth status of Wogan and the amount of fertilizer.

[0030] Furthermore, when the root distribution depth is large, the growth of plants is generally stable, because the deep root system can effectively absorb water and nutrients, especially in the case of drought or fertilizer scarcity, the deep root system can play an important role. At this time, plants can usually maintain a strong growth rate and have a high demand for fertilizer. At this time, fertilization usually has a better effect, because the root system can effectively absorb nutrients in the deep soil, and the amount of fertilizer can be increased appropriately according to the growth needs of the plant. When the root distribution depth is shallow, the growth state of the plant is relatively unstable. Shallow root system means that the plant is restricted in the absorption of soil moisture and nutrients, resulting in poor growth, large growth deviation, and the root system cannot penetrate deep into the soil, which may cause the plant to be easily affected by changes in the external environment, such as drought, pests and diseases. At this time, excessive fertilization may not directly improve the growth of plants. Because the root system has a weak absorption capacity, excessive fertilization may cause nutrients to be unable to be effectively absorbed, and may even accumulate excessively in the soil, resulting in salt damage or excessive soil salt concentration, which is not conducive to the health of plants.

[0031] In addition, when the fruit weight gain rate is high, it means that the plant's metabolic rate is fast, especially the fruit growth rate is accelerated. This usually indicates that the plant needs more nutrients to support its rapid growth, especially during the fruit expansion period, when the plant's demand for nitrogen, phosphorus, potassium and other elements increases. At this time, the amount of fertilizer should be increased appropriately to meet the plant's demand for nutrients during rapid growth. Especially nitrogen fertilizer, it directly promotes plant growth and fruit expansion. The increase in fertilizer application helps plants maintain a higher weight gain rate by increasing the available nutrient concentration in the soil. Fertilization at this time not only helps to increase the fruit weight gain rate, but also avoids growth stagnation caused by insufficient nutrients. Reasonable fertilization can also promote plant photosynthesis, thereby further increasing the weight gain rate of the fruit.

[0032] When the fruit weight gain rate is low, it means that the plant's growth rate is slow and the fruit expansion process is restricted. At this time, the plant may be in a recovery period of growth, encountering environmental pressure (such as lack of water, pests and diseases, etc.) or the root absorption capacity is weak. When the fruit weight gain rate is low, increasing the amount of fertilizer does not necessarily have a positive effect on fruit growth. Plants have limited ability to absorb fertilizers. Too much fertilizer may not be effectively absorbed, and may even accumulate in the soil, bringing negative effects such as salt damage. At this time, the amount of fertilizer should be controlled within an appropriate range and should not be increased blindly. Too much fertilizer will not only not promote fruit weight gain, but may aggravate the plant's stress response, affect its root growth, and ultimately lead to low fertilization efficiency.

[0033] Furthermore, in step S203, the angle membership function specifically includes the following form: When the angle is less than the set angle threshold interval, the plant's growth is balanced, and a low-slope triangle membership function is established; When the angle is within the set angle threshold range, the plant growth deviates from the balance to a moderate degree, and a trapezoidal membership function is established; When the angle is greater than the set angle threshold interval, the plant growth deviation is large, and a triangle membership function with a high slope is established.

[0034] Furthermore, in step S203, the membership function of the angular velocity specifically includes the following form: When the angular velocity is less than the set angular velocity threshold interval, it means that the plant grows slowly, and a low-slope triangular membership function is established; When the angular velocity is within the set angular velocity threshold range, it means that the plant growth rate is moderate, and a trapezoidal membership function is established; When the angular velocity is greater than the set angular velocity threshold interval, it means that the plant grows fast, and a triangular membership function with a high slope is established.

[0035] Furthermore, the low-slope triangle membership function is specifically expressed as: For the triangle membership function with low slope of the angle, that is: ; Among them, the represents the small angle membership function, It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the deviation of the growth of Wogan. Indicates the maximum value of a small angle, that is, when the angle is below this value, the value of the membership function is 1; For the low slope triangular membership function of angular velocity, that is: ; Among them, the represents the slow angular velocity membership function, represents the angular velocity in the inverted pendulum model, which is used to reflect the rate of plant growth, that is, the growth rate of Wogan. Indicates the upper limit of the angular velocity. When the angular velocity is less than or equal to this value, the membership degree is 1.

[0036] Specifically, the definition of the membership function in the above embodiment is set according to the balance of plant growth. For example, when the angle or angular velocity is small, it means that the growth of the plant is relatively stable or slow, so the membership is close to 1. As the angle or angular velocity increases, the membership gradually decreases, indicating that when the plant growth deviates from the balance or the rate increases, the amount of fertilizer needs to be adjusted.

[0037] Furthermore, the trapezoidal membership function is specifically expressed as: For the trapezoidal membership function of the angle, that is: ; Among them, the represents the medium angle membership function, It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the deviation of the growth of Wogan. represents the lower limit of the medium angle interval, represents the upper limit of the medium angle interval, Indicates the high value of the angle. When the angle exceeds this value, the membership is 0; For the trapezoidal membership function of angular velocity, that is: ; Among them, the represents the medium angular velocity membership function, represents the angular velocity in the inverted pendulum model, which is used to reflect the rate of plant growth, that is, the growth rate of Wogan. Indicates the lower limit of the medium rate. Indicates the upper limit of the medium rate. Indicates the maximum value of the velocity. When the angular velocity exceeds this value, the membership is 0.

[0038] Specifically, the trapezoidal membership function is used to represent the situation where the plant growth rate and the deviation from balance are moderate. Its membership is high within a certain range, and when the angle or angular velocity exceeds this range, the membership drops rapidly. The above implementation method is used to capture changes in the plant growth process and adjust the fertilization strategy in time.

[0039] Furthermore, the high-slope triangle membership function is specifically expressed as: For the high slope triangular membership function of angular velocity, that is: ; Among them, the represents the large angle membership function, Indicates the starting value of the high angle interval. Indicates the maximum value of the large angle. When the angle exceeds this value, the membership degree is 1. It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the growth deviation of Wogan; For a triangle with a high slope of angle, the membership function is: ; Among them, the represents the fast angular velocity membership function, represents the angular velocity in the inverted pendulum model, which is used to reflect the rate of plant growth, that is, the growth rate of Wogan. Indicates the maximum value of the fast angular velocity. When the angular velocity exceeds this value, the membership degree is 1. Indicates the threshold value of angular velocity.

[0040] Specifically, a high-slope triangular membership function indicates a larger degree of deviation or a faster growth rate during plant growth, which means that more fertilizer needs to be added or reduced to meet the growth needs of the plant.

[0041] Specifically, the membership function is used to convert the angle and angular velocity into fuzzy values, indicating the membership of these values ​​in different ranges, reflecting the different stages of plant growth status. The low-slope triangle membership function indicates that when the plant growth is balanced (the angle is small), when the angle is less than the preset threshold, the plant growth deviation is small, and the membership is 1. As the angle increases, the membership gradually decreases. The trapezoidal membership function indicates that the growth deviation is moderate. When the angle is in the medium range, the membership will maintain a high value within a certain range. The high-slope triangle membership function indicates that when the plant growth deviates greatly from the balance (large angle), the membership will decrease rapidly. The angular velocity membership function is similar to the angle membership function. The angular velocity also has three main states: slow (low-slope triangle membership function), moderate (trapezoidal membership function) and fast (high-slope triangle membership function). Through these membership functions, the system can quantify the fuzziness of angles and angular velocities, and then perform fuzzy reasoning to obtain the fuzzy output corresponding to each rule, that is, the fertilizer amount adjustment.

[0042] Furthermore, in step S204, the amount of fertilizer applied is calculated by the TS model as follows: ; Among them, the Indicates that represents the membership function value of the angle and angular velocity corresponding to the i-th fuzzy rule at a certain time t, wherein i represents the number index of the fuzzy rule, represents the angular velocity in the inverted pendulum model, which is used to reflect the rate of plant growth, that is, the growth rate of Wogan. It represents the angle of the inverted pendulum model, which is used to reflect the degree to which the plant growth load deviates from the equilibrium state, that is, the growth deviation of the Wogan.

[0043] Specifically, the TS model (Takagi-Sugeno model) is a reasoning model based on fuzzy rules that can model complex nonlinear systems. In the above embodiment, the TS model combines fuzzy rules with membership functions to output the amount of fertilizer. Rule output: Each fuzzy rule will generate a weighted fertilizer output, which is calculated based on the relationship between the membership function value of the fuzzy rule and the amount of fertilizer. Weighted average: The output results of all rules will be weighted averaged according to the membership value of each rule. The higher the membership value of each rule, the greater its contribution to the amount of fertilizer. Adjustment of fertilizer amount: According to the results of the TS model output, the control system will adjust the amount of fertilizer in real time. By inputting the root distribution depth, fruit weight gain rate, and angle and angular velocity in the inverted pendulum model, the system can intelligently calculate the optimal amount of fertilizer at each time point.

[0044] The above is only a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art shall not deviate from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

Claims

1. A method for optimizing the mechanism of coordinated application of potassium sulfate and magnesium sulfate, characterized in that: The following steps are involved: S1. Collect characteristic parameters of soil and Wogan growth, and normalize the characteristic parameters. The characteristic parameter of the soil is the root distribution depth, and the characteristic parameter of the Wogan growth is the fruit weight gain rate; S2. Based on the collected characteristic parameters, the single-stage inverted pendulum model is combined to perform relationship mapping, and the root distribution depth and fruit weight gain rate are used as inputs, combined with the TS model, to output the corresponding fertilizer amount; S3. According to the output of the TS model, adjust the amount of fertilizer to control, and collect new soil and Wogan growth characteristic parameters in real time as new model inputs, TS model updates the amount of fertilizer in real time according to the iterative input of new soil and Wogan growth characteristic parameters; Wherein, the step S2 specifically includes the following sub-steps: S201. According to the angle and angular velocity of the inverted pendulum in the single-stage inverted pendulum physical model, the input characteristic parameters are mapped, the angle of the inverted pendulum corresponds to the deviation of the growth of Wogan, and the angular velocity corresponds to the growth rate of Wogan; S202. Constructing fuzzy rules of root distribution depth and fruit weight gain rate according to the mapping relationship; S203. Setting the membership function of the angle and angular velocity to quantify the fuzzy rules; S204. Calculate the amount of fertilizer using the TS model based on the root distribution depth and fruit weight gain rate.

2. A method for optimizing the coordinated application mechanism of potassium sulfate and magnesium sulfate as claimed in claim 1, characterized in that: In the step S201, the input characteristic parameters are specifically mapped through a mapping function, including a mapping relationship between the root distribution depth and the inverted pendulum angle and a mapping relationship between the fruit weight gain rate and the inverted pendulum angular velocity.

3. A method for optimizing the coordinated application mechanism of potassium sulfate and magnesium sulfate as claimed in claim 2, characterized in that: The mapping relationship between the root distribution depth and the inverted pendulum angle and the mapping relationship between the fruit weight gain rate and the inverted pendulum angular velocity are specifically as follows: ； Among them, the Indicates the root distribution depth, represents the system parameter that controls the sensitivity of the root distribution depth to the change of the inverted pendulum angle. represents the nonlinear adjustment coefficient that controls the rate at which the root distribution depth changes with the angle. and represent the offset parameters for adjusting the root distribution depth and the fruit weight gain rate, respectively. It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the deviation of the growth of Wogan. represents the fruit weight gain rate, represents the system parameter that controls the sensitivity of the fruit weight gain rate to the change of the inverted pendulum angular velocity. represents the nonlinear adjustment coefficient for controlling the rate at which the fruit weight gain rate changes with the angular velocity, It represents the angular velocity in the inverted pendulum model, which is used to reflect the growth rate of the plant, that is, the growth rate of the mandarin orange.

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

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

6. A method for optimizing the mechanism of coordinated application of potassium sulfate and magnesium sulfate as claimed in claim 5, characterized in that: In step S203, the membership function of the angular velocity specifically includes the following form: When the angular velocity is less than the set angular velocity threshold interval, it means that the plant grows slowly, and a triangular membership function with a low slope is established; When the angular velocity is within the set angular velocity threshold range, it means that the plant growth rate is moderate, and a trapezoidal membership function is established; When the angular velocity is greater than the set angular velocity threshold interval, it means that the plant grows fast, and a triangular membership function with a high slope is established.

7. A method for optimizing the coordinated application mechanism of potassium sulfate and magnesium sulfate as claimed in claim 6, characterized in that: The low-slope triangle membership function is specifically expressed as: For the triangle membership function with low slope of the angle, that is: ； Among them, the represents the small angle membership function, It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the deviation of the growth of Wogan. Indicates the maximum value of a small angle, that is, when the angle is below this value, the value of the membership function is 1; For the low slope triangular membership function of angular velocity, that is: ； Among them, the represents the slow angular velocity membership function, represents the angular velocity in the inverted pendulum model, which is used to reflect the rate of plant growth, that is, the growth rate of Wogan. Indicates the upper limit of the angular velocity. When the angular velocity is less than or equal to this value, the membership degree is 1.

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

9. A method for optimizing the coordinated application mechanism of potassium sulfate and magnesium sulfate as claimed in claim 6, characterized in that: The high-slope triangle membership function is specifically expressed as: For the high slope triangular membership function of angular velocity, that is: ； Among them, the represents the large angle membership function, Indicates the starting value of the high angle interval. Indicates the maximum value of the large angle. When the angle exceeds this value, the membership degree is 1. It represents the angle of the inverted pendulum model, which is used to reflect the degree of deviation of plant growth from the equilibrium state, that is, the growth deviation of Wogan; For a triangle with a high slope of angle, the membership function is: ； Among them, the represents the fast angular velocity membership function, represents the angular velocity in the inverted pendulum model, which is used to reflect the rate of plant growth, that is, the growth rate of Wogan. Indicates the maximum value of the fast angular velocity. When the angular velocity exceeds this value, the membership degree is 1. Indicates the threshold value of angular velocity.

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

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