玉米自走式喷雾机苗期间歇施药控制系统设计

时间：2021-06-10 10:10:18 来源：蒲公英阅读网 本文已影响人

相关热词搜索：苗期 施药 间歇

　I

　 玉米自走式喷雾机苗期间歇施药控制系统设计

　摘 摘 要 一直以来，农业上防治病虫灾害的有效手段即为对农作物进行农药喷洒。然而，与其他发达国家相比，我国施药技术的落后导致农药的大量浪费，较低的农药利用率不仅提高了防治病虫害的成本，对生态自然环境的破坏也日益严重。尤其针对新疆大田种植玉米作物，施药面积大、用药量多，如何实现减药增效尤为重要。为提高我区农药利用率，提出应用变量施药技术，以苗期玉米植株为研究对象，研究设计一套适用于自走式喷药机的间歇施药控制系统，以期改善施药效果，降低农药污染。

　本文的主要研究内容如下：

　（1）以施药机具、施药技术角度出发，综述国内外间歇施药控制系统研究现状，通过对比对象检测传感器文献成果，结合本研究对象特征，优选超声传感器感知苗期玉米植株。根据系统设计目的与要求，研究确定了技术路线。

　（2）搭建了间歇施药控制硬件系统：设计了间歇施药液压回路，确定了液压元件参数；开发了基于 PLC 的电控系统，规划了 PLC 外部电路以及电磁阀驱动电路。

　（3）构建了系统压力控制模型与流量控制模型，基于作物超声检测高度，建立了间歇喷药变量控制模型。研究了基于 PID 的施药系统压力稳定控制算法，并完成模型仿真分析。

　（4）设计了基于 PLC 的系统控制软件，完成上位机软件开发。

　（5）搭建了间歇施药控制系统试验台，苗期玉米间歇施药台架试验结果表明：间歇施药控制系统性能良好，流量控制精度误差在±5.57%以内，压力闭环控制相对误差在±4.71%以内，满足作业要求。

　关键词：玉米苗期，间歇施药，PID 控制，PLC。

　II

　 Abstract For a long time, the effective method to prevent pests and diseases in agriculture is to spray pesticides on crops. However, compared with other developed countries, the backwardness of pesticide application technology in our country leads to a large amount of waste of pesticides. The lower utilization rate of pesticides not only raises the cost of controlling diseases and insect pests, but also destroys the ecological environment. Especially for the field planting of maize crops in Xinjiang, the application area is large and the amount of medicine used is large. In order to improve the utilization rate of pesticide in our area, the application of variable pesticide application technology was put forward. Taking maize plants in seedling stage as the research object, a set of intermittent pesticide application control system suitable for self-propelled spraying machine was designed in order to improve the pesticide application effect and reduce pesticide pollution. The main research contents of this paper are as follows: (1) From the perspective of applicator and applicator technology, the research status of intermittent applicator control system at home and abroad was reviewed. By comparing the literature results of detection sensor of the object and combining with the characteristics of the object of this study, the ultrasonic sensor was selected to perceive maize plants in seedling stage. According to the design purpose and requirement of the system, the technical route is determined. (2) Set up the intermittent application control hardware system: designed the intermittent application hydraulic circuit, and determined the hydraulic component parameters; The electric control system based on PLC is developed, the external circuit of PLC and the drive circuit of solenoid valve are planned. (3) The system pressure control model and flow control model were constructed, and the variable control model of intermittent spraying was established based on the ultrasonic detection height of crops. The pressure stabilization control algorithm based on PID was studied and the model simulation analysis was completed. (4) Designed the system control software based on PLC, and completed the upper computer software development.

　III (5) The test bed of intermittent pesticide application control system was built. The test results of intermittent pesticide application platform in seedling stage showed that the performance of intermittent pesticide application control system was good, the accuracy error of flow control was within ±5.57%, and the relative error of pressure closed-loop control was within ±4.71%, which met the operation requirements. Key words: Maize seedling stage, intermittent application, PID control, PLC

　IV 目录 摘 要 .............................................................................................................................................................. I

　Abstract ......................................................................................................................................................... II

　第一章 绪论 ................................................................................................................................................ 1

　1.1 研究背景和意义 ......................................................................................................................... 1

　1.1.1 玉米种植特点 ................................................................................................................ 1

　1.1.2 研究意义 .......................................................................................................................... 2

　1.2 喷雾机的发展 ............................................................................................................................ 2

　1.3 施药技术研究现状 ................................................................................................................... 4

　1.3.1 基于实时传感器的目标信息采集 ............................................................................. 4

　1.3.2 变量控制系统 ................................................................................................................. 6

　1.4 研究目标和研究内容 ................................................................................................................ 8

　1.4.1 研究目标 .......................................................................................................................... 8

　1.4.2 研究内容 .......................................................................................................................... 8

　1.5 技术路线 ..................................................................................................................................... 9

　1.6 本章小结 ..................................................................................................................................... 9

　第二章 系统总体方案及硬件设计 .................................................................................................... 10

　2.1 设计总体要求 .......................................................................................................................... 10

　2.1.1 设计目的 ...................................................................................................................... 10

　2.1.2 设计要求 ...................................................................................................................... 10

　2.2 间歇变量施药机总体构成 ................................................................................................... 10

　2.3 控制总体方案确定 ................................................................................................................ 11

　V 2.3.1 系统基本组成 .............................................................................................................. 11

　2.3.2 控制系统整体方案 ..................................................................................................... 12

　2.4 硬件选择与设计 ..................................................................................................................... 12

　2.4.1 液压系统回路构建 .................................................................................................... 12

　2.4.2 药液回路主要元器件选择 ...................................................................................... 13

　2.4.3 控制系统主要硬件选择 ........................................................................................... 15

　2.4.4 硬件系统集成 ............................................................................................................. 19

　2.5 硬件电路设计 .......................................................................................................................... 20

　2.5.1 PLC 外部电路 .............................................................................................................. 20

　2.5.2 电磁阀驱动电路设计 ............................................................................................... 20

　2.6 本章小结 .................................................................................................................................. 21

　第三章 系统控制模型构建及控制算法设计 .................................................................................. 22

　3.1 系统控制模型分析及构建 .................................................................................................... 22

　3.1.1 压力控制模型分析及构建 ....................................................................................... 22

　3.1.2 流量控制模型分析与构建 ....................................................................................... 23

　3.2 系统压力控制算法设计与仿真 ........................................................................................... 25

　3.2.1 系统控制算法优选 ..................................................................................................... 25

　3.2.2 压力 PID 控制算法设计 ............................................................................................... I

　3.2.3 算法仿真及结果分析 ................................................................................................ 27

　3.3 流量控制算法 .......................................................................................................................... 28

　3.4 本章小结 .................................................................................................................................... 29

　第四章 系统软件设计 .......................................................................................................................... 30

　VI 4.1 PLC 程序设计原理 ................................................................................................................. 30

　4.1.1 PLC 工作原理 .............................................................................................................. 30

　4.1.2 PLC 编程语言 ..........................