Aim To solve the time delay problem in the optoelectronic tracking system, improving the tracking accuracy. Methods The discount least square algorithm was applied to forecast the tracking error caused by the 40?ms ...Aim To solve the time delay problem in the optoelectronic tracking system, improving the tracking accuracy. Methods The discount least square algorithm was applied to forecast the tracking error caused by the 40?ms delay, and the predicting algorithm was improved by the adaptive discount method.Results The tracking errors of the two methods were compared, and an optimal controller with the improved adaptive discount predicting algorithm was adopted for simulation. Conclusion The predicting algorithms, especially the adaptive discount predicting algorithm, can decrease the tracking error greatly, and the desired tracking prediction can be achieved both in the transient state and in the steady state.展开更多
In order to efficiently solve the shading problem between the upper layer and lower layer in the same cultivation system and between adjacent cultivation systems in multi-layer stereo-cultivation of strawberry,and to ...In order to efficiently solve the shading problem between the upper layer and lower layer in the same cultivation system and between adjacent cultivation systems in multi-layer stereo-cultivation of strawberry,and to improve the fixed A-frame system,a novel cultivation system-sun-tracking system was developed that could keep north-south line of cultivation frame parallel to sunray to make the best use of direct light.In this study,crop canopy light condition of sun-tracking and fixed systems were tested and compared.Results showed that integrated PPF of sun-tracking system is higher than that of fixed system in both middle and lower layers.On sunny day compared with fixed system,integrated PPF on middle and lower layer of suntracking system increased by 16.0%,9.1% in January and 19.6%,4.1% in February,while on cloudy day improvement on light condition of sun-tracking system is not evident as sunny days.Thus sun-tracking system can effectively alleviate shading problem between layers and improve plant canopy light environment.展开更多
Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed contr...Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed controller is designed by a transfer function model,which is obtained by adaptive differential evolution. Model error,friction and nonlinear factor existing in position loop are treated as ‘disturbance',which is estimated and compensated by generalized proportional integral( GPI)observer. Comparative results are provided to demonstrate the remarkable performance of the proposed method. It turns out that the proposed scheme is successful and has superior features,such as quick dynamic response,low overshoot and high tracking precision. Furthermore,with the proposed method,friction is suppressed effectively.展开更多
文摘Aim To solve the time delay problem in the optoelectronic tracking system, improving the tracking accuracy. Methods The discount least square algorithm was applied to forecast the tracking error caused by the 40?ms delay, and the predicting algorithm was improved by the adaptive discount method.Results The tracking errors of the two methods were compared, and an optimal controller with the improved adaptive discount predicting algorithm was adopted for simulation. Conclusion The predicting algorithms, especially the adaptive discount predicting algorithm, can decrease the tracking error greatly, and the desired tracking prediction can be achieved both in the transient state and in the steady state.
基金Supported by National Science and Technology Plan Project"Five"in Rural Areas--Plant Factory Perspective Multilayer Cultivation System and Its Key Technology and Equipment Research(2013AA103002)Modern Agricultural Industry Technology System Construction Special(CARS-25-06B)
文摘In order to efficiently solve the shading problem between the upper layer and lower layer in the same cultivation system and between adjacent cultivation systems in multi-layer stereo-cultivation of strawberry,and to improve the fixed A-frame system,a novel cultivation system-sun-tracking system was developed that could keep north-south line of cultivation frame parallel to sunray to make the best use of direct light.In this study,crop canopy light condition of sun-tracking and fixed systems were tested and compared.Results showed that integrated PPF of sun-tracking system is higher than that of fixed system in both middle and lower layers.On sunny day compared with fixed system,integrated PPF on middle and lower layer of suntracking system increased by 16.0%,9.1% in January and 19.6%,4.1% in February,while on cloudy day improvement on light condition of sun-tracking system is not evident as sunny days.Thus sun-tracking system can effectively alleviate shading problem between layers and improve plant canopy light environment.
基金Supported by the National High Technology Research and Development Programme of China(No.2015AA8082065)the National Natural Science Foundation of China(No.61205143)
文摘Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed controller is designed by a transfer function model,which is obtained by adaptive differential evolution. Model error,friction and nonlinear factor existing in position loop are treated as ‘disturbance',which is estimated and compensated by generalized proportional integral( GPI)observer. Comparative results are provided to demonstrate the remarkable performance of the proposed method. It turns out that the proposed scheme is successful and has superior features,such as quick dynamic response,low overshoot and high tracking precision. Furthermore,with the proposed method,friction is suppressed effectively.
