Driving Force And Navigation Control Research Of Sprinkler Based On Solar Power

The development of irrigation machinery is one of the key factors to promote agricultural development and increase crop yield.However,with the intensification of global energy and water shortage crisis,irrigation has been restricted by water and energy.So how to save water and save energy at the same time has become an inevitable trend in the development of modern agriculture.For many irrigation equipment,mobile sprinkler system has been widely used,because of its advantages of high degree of automation,less labor input,convenient movement and so on,but the domestic mobile sprinklers currently are mostly imported,imported sprinklers has higher efficiency,but the structure is so large that it does not match with the present agricultural development of modern China(to small farmers and some large plantations mainly),as a result,it is difficult to spread in a large area of agricultural irrigation.But in the process of using the sprinkler,it need the supply of power grid or generator power,with the power shortage in some remote areas,it can not guarantee the peak period,the water shortage areas,these can not be timely irrigated.Solar energy as a clean and environmentally friendly new energy is inexhaustible.By combining solar technology with water-saving irrigation technology,the light and small movable sprinkler which uses solar energy as energy sources is formed,it also can well solve the shortage of water resources,irrigation and power shortage,power transmission difficulties,improve irrigation efficiency,it is an important way for China’s social and ecological sustainable development.In view of the above background,The research group developed a light removable sprinkling machine with solar driven as the research platform,the theory and method of the design of the power demand and the power matching of the solar powered sprinkler are discussed,in addition to a small light mobile sprinkler navigation control system was designed,and the related tests are carried out.The main conclusions are as follows:(1)This research developed a solar driven light removable sprinkling machine as the research platform,according to the unique requirements of solar irrigation machine drive system,the drive system and the matching design of solar photovoltaic walking sprinkler was studied,aiming at constructing a driving power and the matching design method of solar PV irrigation machine walking,including key parameters of the theoretical calculation and design verification.And the power demand of driven machine sprinkler walking was tested,the results show that the driving power of the measured value and the calculated value is basically consistent,further verify the reliability of the theoretical calculation of the driving power.In addition,the daily longest working time was taken as the evaluation index.The test results show that: in the summer,the PV system has sufficient power generation,which can fully meet the daily working time of sprinkler irrigation system.The maximum working time of the unit is increased and the sprinkler power and running speed are reduced.In the case of the test day,for example,when the unit is operated at the maximum design water flow and the maximum running speed,the battery pack is fully charged and the unit is continuously operated by the battery pack for 8.1 hours.The photovoltaic power generation unit can run continuously for 11.6h,The total amount of electricity for the unit to run continuously close to 20h;The design day was 8 hours working time,in July 2016 for a month of photovoltaic power supply monitoring,the results show that the total system downtime 8.75 hours,accounting for the system The total power supply time of 3.5%,indicating that reliability of the photovoltaic power supply system is higher.(2)Based on dead reckoning,a sprinkler with Kalman filter multi sensor integrated positioning algorithm.The algorithm combines the GPS information,the electronic compass information and the vehicle speed information to reduce the interference caused by the measurement error of the system.The simulation and experimental results show that the integrated navigation method based on Kalman filter is feasible,although not completely eliminate noise,it reduces the impact of noise on the system to a certain extent,through the recursive method of system state estimation and correction to obtain more accurate measurement results for the description,so as to improve the results of the reliability and fault tolerance.(3)Using differential steering,a sprinkler four wheel differential steering kinematics model,and to establish the differential steering kinematics model as a control object,using the linear tracking model and fuzzy control algorithm to build the sprinkler along a predetermined path on both sides of the wheel speed decision tracking algorithm,and the path tracking test was done.The results show that the linear model decision algorithm and the fuzzy control decision algorithm can make the sprinkler walk along the predetermined path,and the path tracking lateral deviation is not more than 30 cm.The linear model of decision algorithm,sprinkling machine in 0.4m/min and 0.8m/min in the process of walking speed,the maximum deviation is 18.4cm,and shock phenomenon in the process of tracking;fuzzy control decision algorithm,based on 0.5m/min and 1m/min in the process of running speed can eliminate lateral deviation during operation is relatively stable,and the linear control compared to the model by using the fuzzy control method can improve the system stability,smooth sprinkler trajectory,verify the effectiveness of the navigation control algorithm.(4)In order to detect the spraying effect of the sprinkler,the spraying effect test of the sprinkler at 0.5m/min and 1m/min was done.The results show that when the speed is 0.5m/min,the average irrigation depth is 19.69 mm,the sprinkler irrigation uniformity is 0.763,in addition,when the speed is 1m/min,the average irrigation depth is 9.91 mm,the uniformity of sprinkler irrigation is 0.766.When the inlet pressure of the sprinkler irrigation machine is constant and the flow rate of the unit is constant,with the increase of the speed of the sprinkler,the average spraying water is reduced,but the uniformity of sprinkler irrigation is small.