Design And Embedded Realization Of Sprayer Position Controller For Plant Protection Machine

In the process of agricultural modernization,the requirements of agricultural production and the advancement of scientific research experiments have led to rapid development of plant protection machines.For the investment and application of the spray rod plant protection machine,the spraying efficiency and the precision of spraying are greatly improved,and the environmental pollution is reduced.Among them,the control accuracy of the spray rod position of the plant protection machine is the key link to control the precise spraying.The servo valves and hydraulic cylinders that power the boom system have strong nonlinearity and input constraints.The internal structure is complex and there are uncertain factors,which makes the design of the boom position controller difficult.In order to be able to monitor and control the position of the spray boom in real time,and to improve the response speed and control accuracy,the principle of the working mode of the spray gun system of the plant protection machine is first introduced.Uncertainty and input constraints.Then,according to the characteristics of the boom control system of the plant protection machine,a backstepping controller considering uncertain disturbance of input saturation is proposed.By introducing a stable auxiliary system,a new error variable is designed to solve the problem of amplitude constraint of the control input.By constructing a suitable Lyapulov function,the stability of the boom system of the plant protection machine is guaranteed.The simulation results show that the static error of the boom system is small and the response is rapid.When the system is disturbed by external factors,the controller can suppress the external disturbance power and is very robust.It can meet the requirements of accuracy and stability to control the height of the boom.The position control system of the boom of the plant protection machine is developed on the basis of the MATLAB simulation has been effectively verified.After analyzing the system requirements,the hardware selected the STM32F407ZGT6 chip,and designed the AD conversion module,display module,and communication module.The software has completed the control strategy code,designed the AD conversion program,display program and CAN bus communication program.The performance of the controller is tested by hardware-in-the-loop mode,and the communication module is used to realize the communication between the embedded controller and the host computer.The host computer simulates the boom position control system.Experiments show that the designed embedded controller can effectively control the height of the boom.