精量水肥灌溉系统控制策略及验证
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摘要
针对农业施肥灌溉过程中的水和肥液浓度精准控制问题,设计了基于模糊PID控制技术,应用电导率EC值和p H值的调控技术,开发了精量水肥灌溉控制系统.进行了开环阶跃响应试验和继电振荡调试试验,分析得到系统为非线性、惯性、滞后的复杂系统.结果表明,对EC值检测采用PID控制虽有控制精度高的优点,但在肥液浓度变化较大时控制性能恶化.运用开环阶跃响应、PID控制技术和模糊控制技术,设计出EC值的智能PID控制器,试验表明其具备PID参数自整定能力,控制性能优良,稳定时间180 s内,精度±0.15 m S/cm,超调量<15%.
For the precise control problems of water and fertilizer solution concentration in the process of agricultural irrigation,the precise irrigation control system was developed based on PID control technology,the application of conductivity EC value and pH value control technology.The open-loop step response experiments and relay oscillation adjust experiments were performed.The results show that the system is nonlinear,inertial,and hysteretic.The theoretical and experimental study on digital PID control for EC control was also performed.The results indicate that the PID controller has the advantage of high control accuracy,and some time has the disadvantage of performing badly when the fertilizer solubility changed considerably.Adopting open-loop step response theory,PID control and fuzzy control,the intelligent PID controller.The results show that the controller is auto-tuning of PID parameters was designed,the settling time is 3 minutes,accuracy is within ± 0.15 m S/cm,and overshoot less than 15%.With the combination of open-loop step control and PID control,an alternative PID controllerfor p H was designed,and experiments proved that it has some fine performance as mentioned above.
For the precise control problems of water and fertilizer solution concentration in the process of agricultural irrigation,the precise irrigation control system was developed based on PID control technology,the application of conductivity EC value and pH value control technology.The open-loop step response experiments and relay oscillation adjust experiments were performed.The results show that the system is nonlinear,inertial,and hysteretic.The theoretical and experimental study on digital PID control for EC control was also performed.The results indicate that the PID controller has the advantage of high control accuracy,and some time has the disadvantage of performing badly when the fertilizer solubility changed considerably.Adopting open-loop step response theory,PID control and fuzzy control,the intelligent PID controller.The results show that the controller is auto-tuning of PID parameters was designed,the settling time is 3 minutes,accuracy is within ± 0.15 m S/cm,and overshoot less than 15%.With the combination of open-loop step control and PID control,an alternative PID controllerfor p H was designed,and experiments proved that it has some fine performance as mentioned above.
引文
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[16]DANIELE M,MATTSON N S,LIETH H.An empirical model to simulate sodium absorption in roses growing in a hydroponic system[J].Scientia horticulturae,2008,118(3):228-235.
[17]DANIELE M,INCROCCI L,MAGGINI R.Strategies to decrease water drainage and nitrate emission from soilless cultures of greenhouse tomato[J].Agricultural water management,2010,97(7):971-980.
[18]CARMSSI G,INCROCCI L,MAGGINI R,et al.An aggregated model for water requirements of greenhouse tomato grown in closed rock wool culture with saline water[J].Agricultural water management,2007,88(1):73-82.
[19]GALLARDO M,THOMOPSON T B,RODRIGUEZ J S,et al.Simulation of transpiration,drainage,N uptake,nitrate leaching,and N uptake concentration in tomato grown in open substrate[J].Agricultural water management,2009,96(12):1773-1784.
[20]VARLAGAS H,SAVVAS D,MOUZAKIS G,et al.Modelling uptake of Na+and Cl-by tomato in closedcycle cultivation systems as influenced by irrigation water salinity[J].Agricultural water management,2010,97(9):1242-1250.
[21]张醒,张德虎,刘莹莹.基于分数阶模糊PID控制的水轮机调节系统[J].排灌机械工程学报,2016,34(6):504-510.ZHANG Xing,ZHANG Dehu,LIU Yingying.Hydraulic turbine governing system based on fractional-order fuzzy PID control[J].Journal of drainage and irrigation machinery engineering,2016,34(6):504-510.(in Chinese)
[2]张源沛,张益民,张剑明.灌溉施肥原理及其应用[J].宁夏农林科技,2000(3):10-12.ZHANG Yuanpei,ZHANG Yimin,ZHANG Jianmin.Principle and application of irrigation fertigation[J].Ningxia agriculture and forestry science and technology,2000(3):10-12.(in Chinese)
[3]李伏生,陆申年.灌溉施肥的研究和应用[J].植物营养与肥料科学,2000,6(2):233-242.LI Fusheng,LU Shennian.Study on the fertigation and its application[J].Plant natrition&fertilizer science,2000,6(2):233-242.(in Chinese)
[4]倪纪恒,毛罕平,马万征.温室营养液管理策略的研究进展[J].蔬菜,2011(6):45-47.NI Jiheng,MAO Hanping,MA Wanzheng.The research progress of greenhouse of nutrient management strategy[J].Journal of vegetables,2011(6):45-47.(in Chinese)
[5]MARGARET A C,JACKIE B L,PRTER M A T,et al.Effects of nutrient solution electrical conductivity on the compositional and sensory characteristics of greenhouse tomato fruit[J].Postharvest biology and technology,2012,74:132-140.
[6]ALBERTO P,FERMANDO M,INCROCCI L,et al.A comparison between two methods to control nutrient delivery to greenhouse melons grown in recirculating nutrient solution culture[J].Scientia horticulturae,2002,95(2):89-95.
[7]丁小明.荷兰设施园艺发展对我国的启示[J].中国蔬菜,2011,1(3):3-7.DING Xiaoming.The enlightenment to our country of the Dutch horticultural facilities development[J].Journal of Chinese vegetables,2011,1(3):3-7.(in Chinese)
[8]袁洪波,李莉,王俊衡,等.温室水肥一体化营养液调控装备设计与试验[J].农业工程学报,2016,32(8):27-32.YUAN Hongbo,LI Li,WANG Junheng,et al.Design and test of regulation and control equipment for nutrient solution of water and fertilizer integration in greenhouse[J].Transactions of the CSAE,2016,32(8):27-32.(in Chinese)
[9]张伶鳦,王润涛,张长利,等.基于调亏理论和模糊控制的寒地水稻智能灌溉策略[J].农业工程学报,2016,32(13):52-58.ZHANG Lingyi,WANG Runtao,ZHANG Changli,et al.Intelligent irrigation strategy based on regulated deficit theory and fuzzy control for rice in cold region[J].Transactions of the CSAE,2016,32(13):52-58.(in Chinese)
[10]张育斌,魏正英,马胜利,等.灰色预测模糊PID灌溉控制技术开发[J].中国农村水利水电,2016(2):5-8.ZHANG Yubin,WEI Zhengying,MA Shengli,et al.Grey prediction fuzzy-PID control technology for Irrigation[J].China rural water and hydropower,2016(2):5-8.(in Chinese)
[11]王智乾,柯建宏.基于PLC模糊控制的温室灌溉控制策略研究[J].浙江农业科学,2012(6):1428-1432.WANG Zhigan,KE Jianhong.Greenhouse irrigation control strategy based on PLC fuzzy control research[J].Journal of Zhejiang agricultural science,2012(6):1428-1432.(in Chinese)
[12]段婷婷,王春燕,赵万忠,等.电动轮汽车驱动系统的滑模-PID控制[J].江苏大学学报:自然科学版,2015,36(3):260-264.DUAN Tingting,WANG Chunyan,ZHAO Wangzhong,et al.Sliding mode-PID control of driving system for motorized wheels vehicle[J].Jiangsu University:natural science editions,2015,36(3):260-264.(in Chinese)
[13]WANG Xiuqing,YOU Guodong,YANG Shifeng.Fuzzy control model study on precision irrigation system for water stress in crops[J].Journal of computers,2011,6(5):955-962.
[14]CHEN SHINN HORNG,CHOU J H,LI J J.Optimal grey-fuzzy controller design for a constant turning force system[J].International journal of machine tools&manufacture,2002,42(3):343-355.
[15]毛罕平,胡云辉,左志宇,等.设施栽培中母液加入量与营养液EC/p H值的回归模型[J].农机化研究,2012,34(2):149-152.MAO Hanping,HU Yunhui,ZUO Zhiyu,et al.Regression model of the mother liquid dosage and the value of EC/p H in facility cultivation[J].Journal of agricultural mechanization research,2012,34(2):149-152.(in Chinese)
[16]DANIELE M,MATTSON N S,LIETH H.An empirical model to simulate sodium absorption in roses growing in a hydroponic system[J].Scientia horticulturae,2008,118(3):228-235.
[17]DANIELE M,INCROCCI L,MAGGINI R.Strategies to decrease water drainage and nitrate emission from soilless cultures of greenhouse tomato[J].Agricultural water management,2010,97(7):971-980.
[18]CARMSSI G,INCROCCI L,MAGGINI R,et al.An aggregated model for water requirements of greenhouse tomato grown in closed rock wool culture with saline water[J].Agricultural water management,2007,88(1):73-82.
[19]GALLARDO M,THOMOPSON T B,RODRIGUEZ J S,et al.Simulation of transpiration,drainage,N uptake,nitrate leaching,and N uptake concentration in tomato grown in open substrate[J].Agricultural water management,2009,96(12):1773-1784.
[20]VARLAGAS H,SAVVAS D,MOUZAKIS G,et al.Modelling uptake of Na+and Cl-by tomato in closedcycle cultivation systems as influenced by irrigation water salinity[J].Agricultural water management,2010,97(9):1242-1250.
[21]张醒,张德虎,刘莹莹.基于分数阶模糊PID控制的水轮机调节系统[J].排灌机械工程学报,2016,34(6):504-510.ZHANG Xing,ZHANG Dehu,LIU Yingying.Hydraulic turbine governing system based on fractional-order fuzzy PID control[J].Journal of drainage and irrigation machinery engineering,2016,34(6):504-510.(in Chinese)