Research Of Control System Of Variable Spray Equipment

The paper integrated AgGPS132 receiver, AS—RF robot with caterpillar tread and SCS450 variable spray controller to develop variable spraying equipment which can autonomously move. The main research content concluded the integration of hardware system of variable spraying equipment, development of software system used to control variable spray, research of kinetic control of the equipment and experimental research of variable spray effect.To begin with, my paper developed the intelligently variable spray control system which can collect the information of the GPS position at any time, analyze the information judging which area the equipment being in, transmit the spray information to the SCS450 spray controller in order to operate the variable spray and monitor the effect by storing the feedback spray information from the SCS450 controller. Then, in order to achieve the variable spray operation, the spray robot was needed to control moving autonomously following the path previously marked out. My paper does some research on the servo-control system of the robot. Step response experiment has been done on the right and left electric engine by the structure parameters of model of electric engine. PID control arithmetic of integration separation has been used to design PID controller in order to adjust the speed of the left and the right electric engine. At last, in order to research the variable spray effect of the variable spray equipment by the method of equipment, the effect of motion control and the effect of variable control have been researched. Firstly, Straight-line tracing experiment was done on the AS—RF robot ,then fitted the experimental data and found that the range of rate of slope of fitting line is - 0.001575758 ≤ k ≤ 0.008606061, which approach the ideal rate of slope of the line. Secondly, the rotating angle of the robot has been calibrated by the way of experiment. In order to find the relationship between the ideal rotating angle and the practical angle, the experimental data ware individually fitted as line, fitted as polynomial expression and fitted as exponent. Finally, experiment has been done to test the effect...