为达到温室内灌溉节约用水的目的，设计可沿轨道运动的三自由度倒挂机械臂喷灌装置，同时，可保障作物生长在最佳湿度土壤中，以提高作物产量。本文提出一种基于势函数、电势场理论的土壤湿度传感器均匀性布点方法，可精确采集区域内土壤湿度；采用模糊控制更加精确地控制土壤湿度；为快速响应控制指令，采用PI方法对各关节电机进行控制。计算、分析及仿真结果表明：PI控制可使装置快速响应指令进行运动，响应时间小于1 s；传感器均匀布点方法与土壤湿度模糊控制方法相结合，可精确控制电磁阀开闭时间，模糊控制响应时间小于1 s。装置整体结构模型搭建完成，响应速度快，运动路径及动作可按设定执行。
Abstract
In order to save water for irrigation in greenhouse, a three-degree-of-freedom upside-down mechanical arm irrigation device that can move along the track was designed. At the same time, the device can ensure that crops grow in the optimal moisture soil, so as to improve crop yield. Also, in this paper, a method for uniform distribution of soil moisture sensors based on potential function and electric potential field theory, which could accurately collect soil moisture in the area was presented, fuzzy control was used to control soil moisture more accurately, and PI method was adopted to control the motor of each joint to respond to the control instruction quickly. The calculation, analysis and simulation results showed that: PI control enabled the device to quickly respond to commands and move, and the response time was less than 1 s; the combination of the method of uniform distribution of sensors with the fuzzy control method of soil moisture could accurately control the opening and closing time of the solenoid valve, and the response time of the fuzzy control was less than 1 s.The whole structure model of the device has been built, the response speed is fast, and the motion path and action can be executed according to the setting.
关键词
轨道式喷灌装置 /
传感器均匀性布点方法 /
倒挂式机械臂 /
模糊控制 /
势函数 /
电势场理论
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Key words
track sprinkler irrigation device /
sensors uniform distribution method /
upside-down mechanical arm /
fuzzy control /
potential function /
potential field theory
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基金
黑龙江省教育厅省属高等学校基本科研业务费科研项目( 135209309，135209231，135409102) ; 黑龙江省教育厅高等教育教学改革研
究项目( SJGY20180561) 。
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