| 引用本文: | 吴志东,潘迪,冯宇琛.温室内轨道式喷灌装置设计[J].灌溉排水学报,0,():-. |
| wuzhidong,pandi,fengyuchen.温室内轨道式喷灌装置设计[J].灌溉排水学报,0,():-. |
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| 摘要: |
| 【目的】为达到温室内灌溉节约用水的目的，设计可沿轨道运动的三自由度倒挂机械臂喷灌装置，同时，可保障作物生长在最佳湿度土壤中，以提高作物产量。【方法】本文提出一种基于势函数、电势场理论的土壤湿度传感器均匀性布点方法，可精确采集区域内土壤湿度；采用模糊控制更加精确地控制土壤湿度；为快速响应控制指令，采用PI方法对各关节电机进行控制。【结果】计算、分析及仿真结果表明：PI控制可使装置快速响应指令进行运动，响应时间小于1s；传感器均匀布点方法与土壤湿度模糊控制方法相结合，可精确控制电磁阀开闭时间，模糊控制响应时间小于1s。【结论】装置模型搭建完成，装置响应速度快，运动路径及动作可按设定执行。 |
| 关键词: 精细喷灌；均匀布点；倒挂式机械臂；模糊控制 |
| DOI： |
| 分类号:s237 |
| 基金项目:黑龙江省省属高等学校基本科研业务费科研项目(135209309)；齐齐哈尔大学教育科学研究项目(2017090,2017091,2017094)；黑龙江省高等教育教学改革研究项目(SJGY20180561) |
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| Design of track sprinkler irrigationSdevice in greenhouse |
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wuzhidong1, pandi2, fengyuchen1
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1.School of Mechanical and Electronic Engineering, Qiqihar University;2.College of Science，Qiqihar University
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| Abstract: |
| 【Objective】In order to save water for irrigation in greenhouse, a three-degree-of-freedom upside-down mechanical arm irrigation device that can move along the track. At the same time, crops can be guaranteed to grow in the optimal moisture soil, so as to improve crop yield. 【Method】In this paper a uniform distribution method of soil moisture sensor based on potential function and potential field theory was presented, which can accurately collect soil moisture in the area. Using fuzzy control to control soil moisture more precisely. To quickly respond to control instructions, PI method was used to control the motor of each joint. 【Result】The calculation, analysis and simulation results show that: PI control enables the device to quickly respond to commands and move, the response time is less than 1s. The method of uniform distribution of sensors is combined with the fuzzy control method of soil moisture, that can precisely control the solenoid valve opening and closing time, the fuzzy control response time is less than 1s. 【Conclusion】The device model is built, the response speed of device control is fast, and the motion path and action can be executed according to the setting. |
| Key words: precise sprinkler irrigation; uniform distributed point; upside-down mechanical arm; fuzzy control |
