Design And Implement Of Spray Boom Position Of Plant Protection Machinery Based On Embedded Controller

Chemical control of crop pests and diseases in agricultural production is an important way to ensure high and stable yield.Spray efficiency and accuracy of pesticides has greatly improved with the use of large plant protection machinery with spray boom.In the process of working,due to the complicated farmland conditions,when the machinery working on the field,even small external stimulation would be enlarged at both ends of the spray boom,and this may cause unbalance of the boom and result in uneven spraying of pesticides.in order to ensure the uniformity of spray of the pesticides,the position control of the spray boom of plant protection machinery system is extremely important.Thus,in order to better keep the relative height between the boom system and the canopy of plant,a position control system of the spray boom of plant protection machinery is designed and the controller is developed based on the embedded system.The research are stated as following exactly:Firstly,a model of the boom system is established by analyzing the overall structure of the boom system of the plant protection machinery.At the same time,the hydraulic cylinder and servo valve in the boom system are considered.The fuzzy PID intelligent control algorithm is designed to ensure that the relative height between the spray boom position and the plant canopy stabilize to realize an excellent performance of tracer control under the existence of uncertainties and interference.Then,the overall control system of the spray boom system has been constructed,intelligent control algorithm has been designed,and the embedded controller of the boom position is designed.In terms of hardware system,STM32F103RBT6 is selected as the main control chip of the controller.The voltage regulator rectifier circuit,display circuit,input and output circuit and amplification circuit etc.are designed In the aspect of software system,the display circuit is designed to realize human-computer interaction;the engineering of fuzzy PID control algorithm is realized based on the Embedded Development Environment,and the design of software and hardware based on embedded intelligent controller are completed.Finally,the model of the boom system is physically realized by the ACCT experiment box,and the embedded controller developed in this thesis is used to carry out the position control of the boom system in the experiment of the closed-loop system.The test results showthat the fuzzy PID controller designed and developed in this thesis can effectively realize tracking the value designated for the position of the boom.When the system is disturbed by certain external uncertainties,the controller can suppress the disturbance and the control accuracy of the system can be satisfied.