多回流式变量喷药控制系统设计与试验
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摘要
针对目前大型宽幅喷药机在喷药过程中施药方式不合理、控制方式单一等问题,在3WP-1200型喷杆式宽幅(22 m)喷药机基础上,设计了一种多回流式变量喷药控制系统。该控制系统可根据喷药机行驶速度来调节比例控制阀,通过改变回流口的开口度来改变喷药流量,实现变量喷药。该控制系统分5路控制所有喷头,每一路可单独控制开断,一路或几路断开的同时可打开相对应的回流口,使系统在不改变流量的情况下,其余喷头喷药量不变;多回流式的控制方法使系统压力更稳定,控制精度更高。同时设计了该系统的硬件和软件,并对该控制系统进行了液位标定与喷药精度试验。液位标定试验中,对不同液位对应的药液容积进行了标定,其标定模型决定系数R2为0. 994;流量控制精度试验中,单个喷头的目标流量与实际流量相差不大,其相对误差不大于4. 1%;喷药量控制试验中,喷药流量可随速度变化而变化,但其设定喷药量与实际喷药量相差不大,相对误差在6%以内,实现了变量喷药,且控制精度较高。
In order to solve the problems of unreasonable pesticide application methods and relatively simple control methods in the spraying process of large-scale wide-width spraying machine,a multi-reflux variable spraying control system was designed based on the 3 WP-1200 spraying rod spraying machine with22 m spraying width. The control system could adjust the proportional control valve according to the running speed of the sprayer,which realized the variable spraying by changing the spray flow rate caused by the opening of return port. The control system was divided into five paths to control all sprinklers,and each path could be controlled separately. When one or more routes were disconnected,the corresponding return port could be opened,so that the spraying quantity of the other sprinklers would not change without changing the flow rate of the system. At the same time,its multi-reflux control method made the system pressure more stable and control precision higher. Moreover,the hardware and software of the system were designed,and the liquid level calibration and spray accuracy test of the control system were carried out. In the liquid level calibration test,the liquid volume corresponding to different liquid levels was calibrated,and the determination coefficient R2 of the calibration model was 0. 994. In the flow control accuracy test,the target flow rate of a single sprinkler had little difference from the actual flow rate,and the relative error was not more than 4. 1%. In the spraying control test,the spraying flux could vary with the speed,but the actual spraying flux was almost the same as that of the set spraying flux,and the relative error was within 6%. These experimental results showed that the system could achieve variable spraying with high control accuracy.
In order to solve the problems of unreasonable pesticide application methods and relatively simple control methods in the spraying process of large-scale wide-width spraying machine,a multi-reflux variable spraying control system was designed based on the 3 WP-1200 spraying rod spraying machine with22 m spraying width. The control system could adjust the proportional control valve according to the running speed of the sprayer,which realized the variable spraying by changing the spray flow rate caused by the opening of return port. The control system was divided into five paths to control all sprinklers,and each path could be controlled separately. When one or more routes were disconnected,the corresponding return port could be opened,so that the spraying quantity of the other sprinklers would not change without changing the flow rate of the system. At the same time,its multi-reflux control method made the system pressure more stable and control precision higher. Moreover,the hardware and software of the system were designed,and the liquid level calibration and spray accuracy test of the control system were carried out. In the liquid level calibration test,the liquid volume corresponding to different liquid levels was calibrated,and the determination coefficient R2 of the calibration model was 0. 994. In the flow control accuracy test,the target flow rate of a single sprinkler had little difference from the actual flow rate,and the relative error was not more than 4. 1%. In the spraying control test,the spraying flux could vary with the speed,but the actual spraying flux was almost the same as that of the set spraying flux,and the relative error was within 6%. These experimental results showed that the system could achieve variable spraying with high control accuracy.
引文
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[17]王锦江,孙星,严荷荣,等.注入式变量施药控制系统设计[J].农机化研究,2013,35(9):129-132.WANG Jinjiang,SUN Xing,YAN Herong,et al.Control system design of injective variable rate spraying[J].Journal of Agricultural Mechanization Research,2013,35(9):129-132.(in Chinese)
[18]魏新华,蒋杉,孙宏伟,等.PWM间歇喷雾式变量喷施控制器设计与测试[J/OL].农业机械学报,2012,43(12):87-93.WEI Xinhua,JIANG Shan,SUN Hongwei,et al.Design and test of variable rate application controller of intermittent spray based on PWM[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2012,43(12):87-93.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20121216&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2012.12.016.(in Chinese)
[19]ZHAI C,WANG X,LIU D,et al.Nozzle flow model of high pressure variable-rate spraying based on PWM technology[J].Advanced Materials Research,2012,422:208-217.
[20]王利霞,张书慧,马成林,等.基于ARM的变量喷药控制系统设计[J].农业工程学报,2010,26(4):113-118.WANG Lixia,ZHANG Shuhui,MA Chenglin,et al.Design of variable spraying system based on ARM[J].Transactions of the CSAE,2010,26(4):113-118.(in Chinese)
[21]林立恒.高地隙喷杆喷雾机智能控制系统设计[D].泰安:山东农业大学,2017.LIN Liheng.Design of intelligent control system for high clearance boom sprayer[D].Taian:Shandong Agricultural University,2017.(in Chinese)
[22]魏新华,邵菁,缪丹丹,等.喷杆式喷雾机喷杆高度及平衡在线调控系统[J/OL].农业机械学报,2015,46(8):66-71.WEI Xinhua,SHAO Jing,MIAO Dandan,et al.Online control system of spray boom height and balance[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(8):66-71.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20150811&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.08.011.(in Chinese)
[23]随顺涛,朱瑞祥,王丽丽.基于脉宽调制的变量喷药技术控制系统[J].农机化研究,2009,31(4):143-145.SUI Shuntao,ZHU Ruixiang,WANG Lili.Controlling system based on pulse width modulation for variable spraying[J].Journal of Agricultural Mechanization Research,2009,31(4):143-145.(in Chinese)
[24]李艳杰,崔天宇,王海,等.比例阀控液压缸位置PID闭环控制的PLC软件实现[J].沈阳理工大学学报,2013,32(4):37-40.LI Yanjie,CUI Tianyu,WANG Hai,et al.Software implementation of hydraulic cylinder position PID closed loop control in proportional valve control system using PLC[J].Journal of Shenyang Ligong University,2013,32(4):37-40.(in Chinese)
[25]钱阳辉.基于电液比例阀控缸位置系统的控制策略及性能研究[D].上海:东华大学,2012.QIAN Yanghui.Research of control strategy based on the electro-hydraulic proportional position control system[D].Shanghai:Donghua University,2012.(in Chinese)
[26]沈景新,李青龙,孙永佳,等.喷杆喷雾机智能控制系统设计及试验[J].农机化研究,2019,41(1):133-137.SHEN Jingxin,LI Qinglong,SUN Yongjia,et al.Design and experiment of intelligent control system of spray bar sprayer[J].Journal of Agricultural Mechanization Research,2019,41(1):133-137.(in Chinese)
[2]翟长远,赵春江,NING Wang,等.果园风送喷雾精准控制方法研究进展[J].农业工程学报,2018,34(10):1-15.ZHAI Changyuan,ZHAO Chunjiang,NING Wang,et al.Research progress on precision control methods of air-assisted spraying in orchards[J].Transactions of the CSAE,2018,34(10):1-15.(in Chinese)
[3]张利君.基于动态PWM变量喷雾系统的雾量分布均匀性研究[D].杭州:浙江大学,2017.ZHANG Lijun.Research of spray deposition uniformity for dynamic PWM variable spray system[D].Hangzhou:Zhejiang University,2017.(in Chinese)
[4]翟长远,朱瑞祥,随顺涛,等.车载式变量施药机控制系统设计与试验[J].农业工程学报,2009,25(8):105-109.ZHAI Changyuan,ZHU Ruixiang,SUI Shuntao,et al.Design and experiment of control system of variable pesticide application machine hauled by tractor[J].Transactions of the CSAE,2009,25(8):105-109.(in Chinese)
[5]李素璇,高明,魏东辉,等.精准变量喷雾控制系统的设计[J].农机化研究,2018,40(6):71-75.LI Suxuan,GAO Ming,WEI Donghui,et al.Design of variable rate fertilizer spreader[J].Journal of Agricultural Mechanization Research,2018,40(6):71-75.(in Chinese)
[6]顾家冰,丁为民,邱威,等.果园变量施药机械及施药技术研究现状与趋势[J].果树学报,2014,29(6):1154-1157.GU Jiabing,DING Weimin,QIU Wei,et al.Current research situation and development trend of equipment and technology for orchard spraying[J].Journal of Fruit Science,2014,29(6):1154-1157.(in Chinese)
[7]丁天航,曹曙明,薛新宇,等.风送式果园喷雾机发展现状及趋势[J].中国农机化学报,2016,37(10):221-226.DING Tianhang,CAO Shuming,XUE Xinyu,et al.Current situation and development trend of air-assisted orchard sprayer[J].Journal of Chinese Agricultural Mechanization,2016,37(10):221-226.(in Chinese)
[8]TIAN L.Development of a sensor-based precision herbicide application system[J].Computers and Electronics in Agriculture,2002,36(2-3):133-149.
[9]TORII T.Research in autonomous agriculture vehicles in Japan[J].Computers and Electronics in Agriculture,2000,25(1-2):133-153.
[10]BAKKER T,ASSELT K,BONTSEMA J,et al.Systematic design of an autonomous platform for robotic weeding[J].Journal of Terramechanics,2010,47(2):63-73.
[11]LAMM R D,SLAUGHTER D C,GILES D K.Precision weed control system for cotton[J].Transactions of the ASAE,2002,45(1):231-238.
[12]SOGAARD H T,LUND I.Application accuracy of a machine vision-controlled robotic micro-dosing system[J].Biosystems Engineering,2007,96(3):315-322.
[13]ASTRAND B,BAERVELDT A J.A vision based row-following system for agricultural field machinery[J].Mechatronics,2005,15:251-269.
[14]贾卫东,张磊江,燕明德,等.喷杆喷雾机研究现状及发展趋势[J].中国农机化学报,2013,34(4):19-22.JIA Weidong,ZHANG Leijiang,YAN Mingde,et al.Current situation and development trend of boom sprayer[J].Journal of Chinese Agricultural Mechanization,2013,34(4):19-22.(in Chinese)
[15]李龙龙,何雄奎,宋坚利,等.基于高频电磁阀的脉宽调制变量喷头喷雾特性[J].农业工程学报,2016,32(1):97-103.LI Longlong,HE Xiongkui,SONG Jianli,et al.Spray characteristics on pulse-width modulation variable application based on high frequency electromagnetic valve[J].Transactions of the CSAE,2016,32(1):97-103.(in Chinese)
[16]蒋焕煜,张利君,刘光远,等.基于PWM变量喷雾的单喷头动态雾量分布均匀性实验[J/OL].农业机械学报,2017,48(4):41-46.JIANG Huanyu,ZHANG Lijun,LIU Guangyuan,et al.Experiment on dynamic spray deposition uniformity for PWM variable spray of single nozzle[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2017,48(4):41-46.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20170405&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2017.04.005.(in Chinese)
[17]王锦江,孙星,严荷荣,等.注入式变量施药控制系统设计[J].农机化研究,2013,35(9):129-132.WANG Jinjiang,SUN Xing,YAN Herong,et al.Control system design of injective variable rate spraying[J].Journal of Agricultural Mechanization Research,2013,35(9):129-132.(in Chinese)
[18]魏新华,蒋杉,孙宏伟,等.PWM间歇喷雾式变量喷施控制器设计与测试[J/OL].农业机械学报,2012,43(12):87-93.WEI Xinhua,JIANG Shan,SUN Hongwei,et al.Design and test of variable rate application controller of intermittent spray based on PWM[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2012,43(12):87-93.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20121216&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2012.12.016.(in Chinese)
[19]ZHAI C,WANG X,LIU D,et al.Nozzle flow model of high pressure variable-rate spraying based on PWM technology[J].Advanced Materials Research,2012,422:208-217.
[20]王利霞,张书慧,马成林,等.基于ARM的变量喷药控制系统设计[J].农业工程学报,2010,26(4):113-118.WANG Lixia,ZHANG Shuhui,MA Chenglin,et al.Design of variable spraying system based on ARM[J].Transactions of the CSAE,2010,26(4):113-118.(in Chinese)
[21]林立恒.高地隙喷杆喷雾机智能控制系统设计[D].泰安:山东农业大学,2017.LIN Liheng.Design of intelligent control system for high clearance boom sprayer[D].Taian:Shandong Agricultural University,2017.(in Chinese)
[22]魏新华,邵菁,缪丹丹,等.喷杆式喷雾机喷杆高度及平衡在线调控系统[J/OL].农业机械学报,2015,46(8):66-71.WEI Xinhua,SHAO Jing,MIAO Dandan,et al.Online control system of spray boom height and balance[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(8):66-71.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20150811&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.08.011.(in Chinese)
[23]随顺涛,朱瑞祥,王丽丽.基于脉宽调制的变量喷药技术控制系统[J].农机化研究,2009,31(4):143-145.SUI Shuntao,ZHU Ruixiang,WANG Lili.Controlling system based on pulse width modulation for variable spraying[J].Journal of Agricultural Mechanization Research,2009,31(4):143-145.(in Chinese)
[24]李艳杰,崔天宇,王海,等.比例阀控液压缸位置PID闭环控制的PLC软件实现[J].沈阳理工大学学报,2013,32(4):37-40.LI Yanjie,CUI Tianyu,WANG Hai,et al.Software implementation of hydraulic cylinder position PID closed loop control in proportional valve control system using PLC[J].Journal of Shenyang Ligong University,2013,32(4):37-40.(in Chinese)
[25]钱阳辉.基于电液比例阀控缸位置系统的控制策略及性能研究[D].上海:东华大学,2012.QIAN Yanghui.Research of control strategy based on the electro-hydraulic proportional position control system[D].Shanghai:Donghua University,2012.(in Chinese)
[26]沈景新,李青龙,孙永佳,等.喷杆喷雾机智能控制系统设计及试验[J].农机化研究,2019,41(1):133-137.SHEN Jingxin,LI Qinglong,SUN Yongjia,et al.Design and experiment of intelligent control system of spray bar sprayer[J].Journal of Agricultural Mechanization Research,2019,41(1):133-137.(in Chinese)