Informatization control method for energy-saving and environment-friendly water conservancy irrigation system

Abstract

The invention relates to the technical field of water conservancy irrigation control, and particularly discloses an energy-saving and environment-friendly water conservancy irrigation system informatization control method which comprises the following steps: S1, acquiring key environment parameters influencing irrigation operation in real time through a wind power detector deployed near a sprinkling irrigation opening, synchronously acquiring a reference working state and a target area of the sprinkling irrigation port; s2, abstracting natural wind into a computable wind vector by establishing a spatial reference coordinate system, and constructing a water drop kinematics model based on a physical law; with the aim of achieving accurate falling of water drops to a target area, model reverse solution is carried out, and the spray irrigation opening angle and the water pressure compensation amount needed for counteracting the wind power influence are accurately calculated; and S3, according to the solved compensation amount, the initial working parameters of the sprinkling irrigation opening are adjusted in real time, so that water drop drifting and evaporation caused by wind power are effectively inhibited, the water resource utilization rate is remarkably increased, and the purposes of energy conservation and environmental protection are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water conservancy irrigation control, in particular to an informationization control method for energy-saving and environment-friendly water conservancy irrigation system. BACKGROUND

[0002] In today's agricultural production field, sprinkling irrigation as a common irrigation method is widely used. However, its actual operation effect is significantly restricted by natural conditions. However, when the wind is strong, the water droplets originally sprayed in mist form are easily blown away by strong wind, and then quickly evaporate into the air. According to statistics, under such adverse conditions, more than 20% of the water cannot effectively act on crops, but is wasted in the form of ineffective loss. This not only causes a huge loss of water resources, increases the cost of agricultural production, but also reduces the irrigation efficiency.

[0003] With the increasing scarcity of global water resources and the increasing emphasis on environmental protection, the traditional extensive sprinkling irrigation mode has been difficult to meet the needs of sustainable development of modern agriculture. In order to realize precise irrigation, improve water resource utilization rate and reduce unnecessary water loss, it is urgent to develop an informationization control method which can dynamically adjust the irrigation strategy according to real-time environmental factors, so as to optimize the operation effect of the sprinkling irrigation system and make it more energy-saving and environment-friendly. SUMMARY

[0004] The purpose of the present application is to provide an informationization control method for energy-saving and environment-friendly water conservancy irrigation system, which solves the following technical problems.

[0005] The purpose of the present application can be achieved by the following technical solutions: An informationization control method for energy-saving and environment-friendly water conservancy irrigation system, comprising the following steps: Step S1: determining a sprinkling irrigation port to be controlled, and setting a wind power detector within a preset range of the sprinkling irrigation port; obtaining a target irrigation area, an initial rotation angle and an initial water pressure of the sprinkling irrigation port, and obtaining a wind direction and a wind speed in real time through the wind power detector; Step S2: establishing a reference coordinate system, obtaining a wind vector in the reference coordinate system according to the wind direction and the wind speed, and establishing a water droplet kinematics model in the reference coordinate system according to the initial rotation angle and the initial water pressure; obtaining a deflection angle compensation and a water pressure compensation in the reference coordinate system according to the target irrigation area; Step S3: compensating the initial rotation angle and the initial water pressure of the sprinkling irrigation port according to the deflection angle compensation and the water pressure compensation.

[0006] As a further scheme of the present application: the determination process of the preset range comprises: Obtain the height H of the sprinkler outlet, and based on historical weather data, obtain the expected maximum wind speed V at the sprinkler outlet. max The radius of the range is obtained based on the height and the expected maximum wind speed: L = k × H × log(V). max +1), where k is an empirical coefficient, k∈[1.5, 2.5]; a circular range is obtained with the sprinkler outlet as the center and the range radius as the radius, which is the preset range.

[0007] As a further aspect of the present invention: the spray axis of the sprinkler nozzle is obtained, and the central angle of the fan-shaped area swept by the spray axis to reach the target irrigation area under windless conditions is obtained and recorded as the initial rotation angle; the water pressure that makes the water droplets sprayed by the sprinkler nozzle just reach the edge of the target irrigation area under windless conditions is obtained and recorded as the initial water pressure.

[0008] As a further aspect of the present invention: the process of obtaining the wind vector includes: Using true north in the reference coordinate system as the 0-degree reference, the real-time wind direction collected by the wind detector is converted into an angle relative to the 0-degree reference, denoted as wind direction angle θ; based on the wind direction angle θ and wind speed v, the X-axis component V is obtained in the reference coordinate system. wx =v×sinθ, obtain the y-component V. wy =v×cosθ, to obtain the component combination (V wx V wy The components are combined and converted into a two-dimensional plane wind vector in the reference coordinate system to obtain the wind vector.

[0009] As a further aspect of the present invention: the process of establishing the water droplet kinematic model includes: The initial position (x0, y0, z0) of the water droplet is marked as the position of the center of the water outlet in the reference coordinate system; the initial velocity vector (Sp) of the water droplet is obtained based on the initial rotation angle and initial water pressure of the water outlet. x0 Sp y0 Sp z0 ); In the reference coordinate system, the water droplet is subjected to a gravitational force vector with a vertically downward direction and a magnitude of G = mg, where m is the average mass of the water droplet and g is the gravitational acceleration; and the water droplet is subjected to a force vector with a magnitude of F = 0.5ρ × Cd × A × Vr, which is opposite to the direction of motion of the water droplet relative to the air. 2 The air resistance force vector is given by ρ, where ρ is the air density, Cd is the drag coefficient of the water droplet, A is the windward cross-sectional area of ​​the water droplet, and Sp is the relative velocity between the water droplet and the air, which is obtained by subtracting the wind vector from the initial velocity vector. According to Newton's second law, the motion differential equation of the water droplet in the reference coordinate system is established by combining the gravity force vector and the air resistance force vector Wherein r represents the three-dimensional coordinates of the water droplet in the reference coordinate system, and t is the time difference between the current time and the time when the water droplet leaves the sprinkler; the motion differential equation is solved by a numerical integration method to obtain the motion trajectory of the water droplet over time.

[0010] As a further scheme of the present application, the inverse solving process comprises: The position coordinates of the center point of the target irrigation area in the reference coordinate system are obtained, all of which are denoted as the terminal point; a constraint condition is set, and the constraint condition is that the terminal point is on the motion trajectory of the water droplet; the coordinates of the terminal point and the center point of the sprinkler, the gravity force vector and the air resistance force vector are input into the water droplet kinematic model for inverse solving to obtain a target velocity vector satisfying the constraint condition, and the target velocity vector is the velocity vector required to ensure that the water droplet reaches the terminal point when leaving the sprinkler.

[0011] As a further scheme of the present application, the obtaining process of the deflection angle compensation amount and the water pressure compensation amount comprises: The component of the target velocity vector in the horizontal direction is obtained, denoted as a target rotation angle, and the target water pressure of the sprinkler is determined according to the size of the target velocity vector; the deflection angle compensation amount is obtained by subtracting the initial rotation angle from the target rotation angle, and the water pressure compensation amount is obtained by subtracting the initial water pressure from the target water pressure.

[0012] As a further scheme of the present application, the deflection angle compensation amount is converted into a pulse signal for driving the rotary motor of the sprinkler, and the water pressure compensation amount is converted into an opening signal for adjusting the water pipe pressure valve; the rotary motor drives the sprinkler to rotate around the jet axis according to the pulse signal, and the water pipe pressure valve adjusts the actual water pressure of the sprinkler according to the opening signal.

[0013] The present application has the following advantages: The present application can calculate the accurate compensation amount required to offset the influence of specific wind force in real time by establishing an accurate water droplet kinematic model and using a reverse solving algorithm, and drive the actuator to make rapid adjustment, which directly brings significant improvement in water resource utilization efficiency, effectively inhibits the water droplet drift loss caused by wind blowing and evaporation, and reduces the invalid water by more than 20%; the present application also ensures the uniformity of irrigation, guarantees the consistency of crop growth environment, indirectly promotes the quality and yield of agricultural output, reduces the energy consumption and production cost caused by excessive irrigation to compensate for wind loss, and has the potential to realize regional collaborative control through optimization algorithm, thereby effectively supporting the sustainable development demand of modern agriculture with water and energy saving and environment friendly on the technical level. BRIEF DESCRIPTION OF DRAWINGS

[0014] The present application will be further described below in conjunction with the drawings.

[0015] Figure 1 is a structural schematic diagram of a water conservancy irrigation system information control method for energy saving and environmental protection. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0017] Please refer to Figure 1 The present application is a water conservancy irrigation system information control method for energy saving and environmental protection, comprising the following steps: Step S1: determining the spray irrigation port to be controlled, and setting a wind force detector in the preset range of the spray irrigation port; obtaining the target irrigation area, initial rotation angle and initial water pressure of the spray irrigation port, and obtaining the wind direction and wind speed in real time through the wind force detector; Specifically, the target spray irrigation unit to be implemented wind resistance control is determined from the irrigation system network, and the spatial position coordinates thereof are recorded; a micro ultrasonic wind force detector is installed at a position 1.5 to 2.5 times the height of the spray irrigation port in the upwind direction of the jet flow axis of the spray irrigation unit, so as to ensure that the sensing direction is consistent with the center height of the spray irrigation port and is not blocked; the boundary coordinates of the target irrigation area corresponding to the spray irrigation unit, the reference rotation angle under the windless condition and the rated working water pressure are called as initial parameters; the wind force detector is started to collect the wind speed and wind direction data of the current environment in real time at a sampling frequency of not less than 1 Hz; As a preferred embodiment of the present application, the determination process of the preset range comprises: Obtain the height H of the sprinkler outlet, and based on historical weather data, obtain the expected maximum wind speed V at the sprinkler outlet. max The radius of the range is obtained based on the height and the expected maximum wind speed: L = k × H × log(V). max +1), where k is an empirical coefficient, k∈[1.5, 2.5]; a circular range is obtained with the sprinkler outlet as the center and the range radius as the radius, which is the preset range; Specifically, when setting up the wind sensor, the installation height of its sensing part should be consistent with the center height of the sprinkler outlet, and there should be no obstacles obstructing it from the sprinkler outlet to ensure the accuracy and representativeness of the collected wind field data. The height of the sprinkler outlet determines the boundary layer characteristics affected by friction when the wind approaches the ground. The higher the nozzle, the less interference from the ground, requiring more free-flowing wind speed data to be obtained at a greater distance upwind. The stronger the wind, the greater its influence range and turbulence intensity, thus requiring a greater distance for early detection and response. It should be noted that the empirical coefficients are determined based on experimental and data fitting methods, the process of which includes: In a wind tunnel laboratory and several typical outdoor irrigation sites, including plain farmland, hilly orchards, and urban green spaces, several sprinkler heads at different heights were set up. A set of wind speed and direction sensors were arranged at different distances upwind of each sprinkler head to measure the real wind field data at the location of the sprinkler head. Different wind speed conditions were simulated in the wind tunnel or created in the natural environment, covering the range from light wind to strong wind, such as [1 m / s, 8 m / s]. Sprinkler heads at different heights were paired with different test wind speeds to obtain several test groups. The data measured by the sensor at a certain distance upwind is compared with the actual data measured by the sensor at the nozzle. If the linear correlation coefficient between the wind speed at that location and the wind speed at the nozzle is greater than 0.95, and the average absolute error between the wind direction at that location and the wind direction at the nozzle is less than 10 degrees, then that distance is recorded as the optimal preset distance; and the optimal preset distance for each test group is obtained. Based on the boundary layer principle of fluid mechanics, it is assumed that there is a functional relationship between the radius L, the height H, and the test wind speed V. By observing the data trend, the fitting model framework is determined. The model framework should be able to reflect the linear growth of L with H and the logarithmic growth with V, which is in line with physical intuition. The optimal preset distance corresponding to each test group is input into the model framework, and regression analysis is performed using the least squares method to solve for the empirical coefficient k value that minimizes the overall error. It is worth noting that the fitting process finds that for low and dense crops, the optimal k value is concentrated in the interval of 1.5 to 1.8; for high and sparse crops or unobstructed open land, the optimal k value is concentrated in the interval of 2.0 to 2.5; therefore, the universal value range of k is determined as 1.5 to 2.5 to cover most application scenarios, and users can select an initial value within this range for fine tuning according to the specific application environment; It is worth noting that several sprinkler heads can share one wind detector; when it is detected that several sprinkler heads are in a preset uniform wind field area, a cooperative control mode can be enabled; one sprinkler head with the most representative position in the area is selected as the master node, and the wind detector associated with it is determined as the master wind sensing device; the control association between the master wind sensing device and other sprinkler heads in the area is established, and the other sprinkler heads are recorded as slave nodes; the wind vector data collected by the master wind sensing device will be shared as parameters and distributed to all associated slave node sprinkler heads in real time through a local area network communication module; in subsequent modeling and solving calculations, all sprinkler heads use uniform wind vector data; As a preferred embodiment of the present application, the spray axis of the sprinkler head is obtained, and the central angle of the sector swept by the spray axis to reach the target irrigation area under windless conditions is obtained, denoted as the initial rotation angle; the water pressure that makes the water droplets sprayed by the sprinkler head just reach the edge of the target irrigation area under windless conditions is obtained, denoted as the initial water pressure; Step S2: establishing a reference coordinate system, obtaining a wind vector in the reference coordinate system according to the wind direction and wind speed, and establishing a water droplet kinematics model in the reference coordinate system according to the initial rotation angle and initial water pressure; obtaining a deflection angle compensation and a water pressure compensation in the reference coordinate system according to the target irrigation area through reverse solving; Specifically, the installation base point of the target sprinkler head is taken as the coordinate origin, the north direction is taken as the positive direction of the Y axis, the east direction is taken as the positive direction of the X axis, and the vertical direction upward is taken as the positive direction of the Z axis to establish a three-dimensional rectangular coordinate system as the reference coordinate system; the wind direction data collected by the wind detector is converted into the azimuth angle relative to the north, combined with the wind speed data, and the wind vector in the coordinate system is obtained through vector decomposition calculation; the initial spray vector of the water droplet is determined based on the initial rotation angle and the initial water pressure, and the water droplet kinematics model describing the trajectory of the water droplet in the air is established by comprehensively considering the gravitational acceleration, air resistance and the aforementioned wind vector; the coordinates of the center point of the target irrigation area are taken as the expected landing point, and the coordinates are substituted into the kinematics model for reverse solving; the deflection angle compensation and the water pressure compensation required to offset the wind disturbance and ensure that the water droplet accurately reaches the target point are calculated through a numerical iteration algorithm; As a preferred embodiment of the present application, the wind vector obtaining process includes: Using true north in the reference coordinate system as the 0-degree reference, the real-time wind direction collected by the wind detector is converted into an angle relative to the 0-degree reference, denoted as wind direction angle θ; based on the wind direction angle θ and wind speed v, the X-axis component V is obtained in the reference coordinate system. wx =v×sinθ, obtain the y-component V. wy =v×cosθ, to obtain the component combination (V wx V wy The components are combined and converted into a two-dimensional planar wind vector in the reference coordinate system to obtain the wind vector; In a preferred embodiment of the present invention, the process of establishing the water droplet kinematic model includes: The initial position (x0, y0, z0) of the water droplet is marked as the position of the center of the water outlet in the reference coordinate system; the initial velocity vector (Sp) of the water droplet is obtained based on the initial rotation angle and initial water pressure of the water outlet. x0 Sp y0 Sp z0 ); In the reference coordinate system, the water droplet is subjected to a gravitational force vector with a vertically downward direction and a magnitude of G = mg, where m is the average mass of the water droplet and g is the gravitational acceleration; and the water droplet is subjected to a force vector with a magnitude of F = 0.5ρ × Cd × A × Vr, which is opposite to the direction of motion of the water droplet relative to the air. 2 The air resistance force vector is given by ρ, where ρ is the air density, Cd is the drag coefficient of the water droplet, A is the windward cross-sectional area of ​​the water droplet, and Sp is the relative velocity between the water droplet and the air, which is obtained by subtracting the wind vector from the initial velocity vector. According to Newton's second law, by simultaneously solving the force vectors of gravity and air resistance, we can establish the differential equation of motion of the water droplet in the reference coordinate system. , where r represents the three-dimensional coordinates of the water droplet in the reference coordinate system, and t is the time difference between the current time and the moment the water droplet leaves the sprinkler nozzle; the motion differential equation is solved by numerical integration to obtain the trajectory of the water droplet over time; It should be noted that the water droplet resistance coefficient Cd is closely related to the water droplet size distribution and is not a fixed constant. The water droplet resistance coefficient needs to be measured by laboratory wind tunnel test on the water droplet size spectrum generated by the sprinkler nozzle under rated working pressure, and the empirical relationship Cd(d) between Cd value and water droplet equivalent diameter d is fitted to obtain the resistance coefficient dynamically adjusted according to the particle size of simulated water droplets in the model calculation. In the numerical integration process, an adaptive step control mechanism is set. When a rapid change in the direction of the water droplet velocity vector is detected (such as a strong shear wind zone crossing the edge of the jet), the integration time step is automatically reduced to ensure calculation stability; conversely, the step can be increased to improve calculation efficiency in the smooth section of the trajectory; all simulated trajectories need to be compared and verified with the actual captured water droplet trajectory by a high-speed camera, and the simulation error is less than the preset tolerance, generally 5%, before the model is determined to be effective; As a preferred embodiment of the present application, the process of inverse solving includes: The position coordinates of the center point of the target irrigation area in the reference coordinate system are obtained, all of which are denoted as the end point; a constraint condition is set, the constraint condition is that the end point is on the water droplet motion trajectory; the coordinates corresponding to the end point and the center point of the sprinkler, the gravity force vector and the air resistance force vector are input into the water droplet kinematics model for inverse solving to obtain a target velocity vector that satisfies the constraint condition, the target velocity vector being a velocity vector required to ensure that the water droplet reaches the end point when leaving the sprinkler; It should be noted that before the process of inverse solving, the existence of the solution needs to be pre-judged. By analyzing the relative position of the target end point and the sprinkler and the current wind vector, it is preliminarily judged whether there is a reachable trajectory in the physical level; if the end point is located outside the jet envelope range of the sprinkler, the calculation is terminated and a target unreachable alarm is triggered, prompting the user to adjust the irrigation parameters to avoid meaningless iterative operation; It is worth noting that if several solutions are obtained by inverse solving, the target function values of each solution are compared, the target function value can be the distance between the end of the trajectory and the target point, and finally the solution with the minimum target function value and meeting the accuracy requirement is selected as the optimal target velocity vector; As a preferred embodiment of the present application, the process of obtaining the deflection angle compensation amount and the water pressure compensation amount includes: The component of the target velocity vector in the horizontal direction is obtained, denoted as a target rotation angle, and the target water pressure of the sprinkler is determined according to the size of the target velocity vector; the deflection angle compensation amount is obtained by subtracting the target rotation angle from the initial rotation angle, and the water pressure compensation amount is obtained by subtracting the target water pressure from the initial water pressure; Step S3: compensating the initial rotation angle and the initial water pressure of the sprinkler according to the deflection angle compensation amount and the water pressure compensation amount; As a preferred embodiment of the present application, the deflection angle compensation amount is converted into a pulse signal for driving the rotary motor of the sprinkler, and the water pressure compensation amount is converted into an opening signal for adjusting the water pipe pressure valve; the rotary motor drives the sprinkler to rotate around the jet axis according to the pulse signal, and the water pipe pressure valve adjusts the actual water pressure of the sprinkler according to the opening signal.

[0018] The above detailed description has shown, by way of example, an embodiment of the application. It is specifically contemplated that the application is not limited to the embodiments described herein, but rather, the application is intended to cover all modifications and equivalents thereof falling within the scope of the application.

Claims

1. An information-based control method for energy-saving and environmentally friendly irrigation systems, characterized in that, Includes the following steps: Step S1: Determine the irrigation outlet to be controlled, and set up a wind detector within a preset range of the irrigation outlet; obtain the target irrigation area, initial rotation angle and initial water pressure of the irrigation outlet, and obtain the wind direction and wind speed in real time through the wind detector; Step S2: Establish a reference coordinate system, obtain the wind vector in the reference coordinate system according to the wind direction and wind speed, and establish a water droplet kinematic model in the reference coordinate system according to the initial rotation angle and initial water pressure; perform inverse solution in the reference coordinate system according to the target irrigation area to obtain the deflection angle compensation and water pressure compensation. Step S3: Compensate the initial rotation angle and initial water pressure of the sprinkler nozzle according to the deflection angle compensation amount and water pressure compensation amount.

2. The information control method for an energy-saving and environmentally friendly irrigation system according to claim 1, characterized in that, In step S1, the process of determining the preset range includes: Obtain the height H of the sprinkler outlet, and based on historical weather data, obtain the expected maximum wind speed V at the sprinkler outlet. max The radius of the range is obtained based on the height and the expected maximum wind speed: L = k × H × log(V). max +1), where k is an empirical coefficient, k∈[1.5, 2.5]; a circular range is obtained with the sprinkler outlet as the center and the range radius as the radius, which is the preset range.

3. The information control method for an energy-saving and environmentally friendly irrigation system according to claim 1, characterized in that, In step S1, the spray axis of the sprinkler nozzle is obtained, and the central angle of the fan-shaped area swept by the spray axis to reach the target irrigation area under windless conditions is obtained and recorded as the initial rotation angle; the water pressure that makes the water droplets sprayed by the sprinkler nozzle just reach the edge of the target irrigation area under windless conditions is obtained and recorded as the initial water pressure.

4. The information control method for an energy-saving and environmentally friendly irrigation system according to claim 1, characterized in that, In step S2, the process of obtaining the wind vector includes: Using true north in the reference coordinate system as the 0-degree reference, the real-time wind direction collected by the wind detector is converted into an angle relative to the 0-degree reference, denoted as wind direction angle θ; based on the wind direction angle θ and wind speed v, the component V on the X-axis is obtained in the reference coordinate system. wx =v×sinθ, obtain the y-component V. wy =v×cosθ, to obtain the component combination (V wx V wy The components are combined and converted into a two-dimensional plane wind vector in the reference coordinate system to obtain the wind vector.

5. The information control method for an energy-saving and environmentally friendly irrigation system according to claim 1, characterized in that, In step S2, the process of establishing the water droplet kinematic model includes: The initial position (x0, y0, z0) of the water droplet is marked as the coordinates of the center of the water outlet in the reference coordinate system; the initial velocity vector (Sp) of the water droplet is obtained based on the initial rotation angle and initial water pressure of the water outlet. x0 Sp y0 Sp z0 ); In the reference coordinate system, the water droplet is subjected to a gravitational force vector with a vertically downward direction and a magnitude of G = mg, where m is the average mass of the water droplet and g is the gravitational acceleration; and the water droplet is subjected to a force vector with a magnitude of F = 0.5ρ × Cd × A × Vr, which is opposite to the direction of motion of the water droplet relative to the air. 2 The air resistance force vector is given by ρ, where ρ is the air density, Cd is the drag coefficient of the water droplet, A is the windward cross-sectional area of ​​the water droplet, and Sp is the relative velocity between the water droplet and the air, which is obtained by subtracting the wind vector from the initial velocity vector. According to Newton's second law, by simultaneously solving the force vectors of gravity and air resistance, we can establish the differential equation of motion of the water droplet in the reference coordinate system. , where r represents the three-dimensional coordinates of the water droplet in the reference coordinate system, and t is the time difference between the current time and the moment the water droplet leaves the sprinkler nozzle; the motion differential equation is solved by numerical integration to obtain the trajectory of the water droplet over time.

6. The information control method for an energy-saving and environmentally friendly irrigation system according to claim 1, characterized in that, In step S2, the reverse solution process includes: Obtain the position coordinates of the center point of the target irrigation area in the reference coordinate system, and denote them as the endpoint; set constraints, wherein the endpoint is on the trajectory of the water droplet; take the coordinates of the endpoint, the center point of the sprinkler, the gravity force vector, and the air resistance force vector as inputs, and input them into the water droplet kinematic model for inversion and solution to obtain the target velocity vector that satisfies the constraints, wherein the target velocity vector is the velocity vector required to ensure that the water droplet reaches the endpoint and leaves the sprinkler.

7. The information control method for an energy-saving and environmentally friendly irrigation system according to claim 6, characterized in that, In step S2, the process of obtaining the deflection angle compensation and water pressure compensation includes: Obtain the horizontal component of the target velocity vector, denoted as the target rotation angle, and determine the target water pressure at the sprinkler nozzle based on the magnitude of the target velocity vector; subtract the target rotation angle from the initial rotation angle to obtain the deflection angle compensation amount, and subtract the target water pressure from the initial water pressure to obtain the water pressure compensation amount.

8. The information control method for an energy-saving and environmentally friendly irrigation system according to claim 1, characterized in that, In step S3, the deflection angle compensation amount is converted into a pulse signal to drive the rotary motor of the sprinkler nozzle, and the water pressure compensation amount is converted into a signal to adjust the opening of the water pipe pressure valve. The rotary motor drives the spray nozzle to rotate around the spray axis according to the pulse signal, and the water pipe pressure valve adjusts the actual water pressure of the spray nozzle according to the opening signal.

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