摘要
按照仿形喷雾的原理,研制了一种以单片机为核心的非接触式仿形喷雾位置控制系统,即采用超声波位置传感器检测果树的位置和实际形状,由系统控制步进电机带动喷头组运动,使喷头在理想的喷雾距离下工作。为了适应喷雾对象和环境的不确定性,设计了自适应模糊控制程序,带动喷头的步进电机则采用数字脉宽调制方式(DPWM)控制。试验结果表明,该控制系统满足仿形喷雾的技术要求。
A non-contact profile modeling spray position control system based on single chip microcomputer was designed according to the principle of profile modeling spray, which controls step motors to drive nozzle groups so that the nozzles spray at a precise spray distance according to the actual shape of fruit trees measured by ultrasonic distance sensors. The self-adaptive fuzzy control program was designed to adapt to the uncertainity of targets and environment of spray, and step motors driving nozzles are controlled by DPWM (digital pulse width modulation) mode. The experiment results showed that the system was suitable for the profile modeling sprayer.
出处
《农业工程学报》
EI
CAS
CSCD
北大核心
2004年第3期81-84,共4页
Transactions of the Chinese Society of Agricultural Engineering
基金
国家自然科学基金(30270764)资助
关键词
仿形
喷雾
模糊控制
单片机
profile modeling
spray
fuzzy control
single chip microcomputer
