一种高度可智能调节的农业喷杆控制系统设计

The Control System Design of Agricultural Spray Boom whose Height Can Be Intelligent Adjusted

为了提高农药喷洒效率并防止当地面不平时喷杆倾斜与地面发生碰撞,设计了一种高度可智能调节的农业喷杆控制系统。该系统以单片机MSP430F149为核心控制系统,包括超声波传感器测距设计、PWM驱动设计、PID变速调节设计及防抖动干扰设计。该系统可以进行地面仿形工作,根据地面高度来快速调节喷杆高度,以保证喷头处于合适的喷洒位置,从而提高了喷洒效率,也避免了喷头被碰撞损坏。通过实验可以看出:超声波测距结果在误差范围内可以接受,且当地面高度发生变化时,控制喷杆高度的电机转速也会发生变化。该系统的研究与设计在农业实践中具有重要的意义。

In order to improve the efficiency of pesticide spraying, to do the ground contour and prevent collision of the spray boom.This paper designs an control system of agricultural spray boom whose height can be intelligent adjusted, the core control part of the system is the SCM MSP430F149, the system includes ultrasonic ranging part, PWM driver part, PID variable-speed adjustment part and debounce part.The system can do the contour following accurately, and adjust the height of spray boom quickly according to the height of the ground, to keep the spray boom in the right position, and finally improve the efficiency of pesticide spraying and successfully protect the spray boom.It can be seen by the result of the experiment, the distance measuring results are acceptable, and when the height of the ground change, the speed of the motor controlling spray boom change too.So we can conclude that the design has important significance in agriculture practice.