温室弥雾机控制系统的设计

Research and development of the mist sprayer control system in Greenhouse

为实现温室环境人机分离自动变量施药,设计基于Wi-Fi与模糊控制的自走式自动变量风送弥雾机。施药系统以STM32单片机为核心,在Eclipse开发环境下采用Socket编程技术实现移动端与弥雾机端双向通信。为满足施药技术要求,采用Mamdani模型制定施药控制规则,将虫害覆盖率和茄子冠层高度参数作为模糊控制模型的输入,根据施药控制规则自动控制电磁阀和继电器以调控喷雾流量和控制施药时间,共同完成弥雾机变量施药。通过流量测定、模糊控制及自动与手动弥雾的沉积试验对施药系统进行验证,结果表明:1)施药控制系统可根据占空比准确调控喷雾流量,且占空比与喷雾流量线性度较好,拟合度为R^2=0.996 4,满足该设计喷雾范围要求。2)采样点与喷头距离为1~3m时对单位面积雾滴有效沉积量影响显著,且随着茄子冠层高度的增大和蓟马覆盖率的提高均会使单位面积雾滴沉积量显著提高。3)自动弥雾与手动弥雾沉积量的相对误差不超过0.8%,可满足变量喷雾的实际需求。

In order to realize automatic variable spray and man-machine separation in greenhouse environment,selfpropelled and mist sprayer machine with automatic variable spray system is designed based on Wi-Fi and fuzzy control.The system uses the STM32 Micro Controller Unit as core,the Socket programming technology in the Eclipse development environment to realize the two-way communication between the mobile terminal and the fog machine.And Mamdani model is used to formulate the application control rules,the pest coverage and eggplant canopy height parameters are used as fuzzy control model input.According to the application of control rules,the system automatically controls the solenoid valve and relay to control the spray flow and time,to complete the fog machine variable application together.By using flow rate measurement method,fuzzy control,and automatic and manual misting deposition experiments on the spraying system are verified.The results show that：1）The application control system can accurately control the spray flow through the duty cycle,and the duty cycle and spray flow linearity is better,when fit to R^2=0.996 4 to meet the design of the spray range requirements.2）The effect of sampling point and nozzle distance of 1-3 mon the effective deposition of droplets per unit area is significant.And with the increase of eggplant canopy height and the increase of thrips coverage,the deposition amount per unit area is significantly increased.3）The relative error between the automatic mist and the manual mist is less than 0.8%,which can meet the actual requirement of variable spray.