Active Disturbance Rejection Control Of Precise Spraying Process Based On Particle Swarm Optimization Algorithm

At present,in the process of using pesticide spraying machinery and plant protection machinery,on the one hand,due to the floating,ejection,sputtering and rolling of pesticide droplets,the deposition amount of pesticide droplets is less than 20%of the total amount.On the other hand,there will be large deviations in droplet deposition and droplet size in downhill,jitter and speed changes.The accuracy of spray control is difficult to guarantee.In view of the above disturbances,the Active Disturbance Rejection Controller(ADRC)is used to control the pesticide system.The research results show that ADRC is conducive to improving the efficiency of spray.In this paper,the spray spraying system is studied.The control principle of precision spraying is studied first,and its mathematical model is established.Two order nonlinear ADRC and model compensation ADRC are designed for pressure control and flow control respectively,and combined with particle swarm optimization(Particle Swarm Optimization)Algorithm(PSO)is used to optimize the parameters,and finally the superiority of the control algorithm is verified in the precision spraying system1.The control principle of precise spraying was studied,and the mathematical model of precise spraying flow solenoid valve was established through the dynamic equation of spraying system;combined with the relationship between the pressure flow of precise spraying pipeline and the voltage of corresponding solenoid valve,the functional relationship between the voltage of solenoid valve and the pressure flow of pipeline was obtained through curve fitting;and the mathematical model of solenoid valve was verified.2.The precise pressure ADRC controller and the precise flow ADRC controller are designed.By adding decoupling controller,the decoupling performance of the whole control system is enhanced;the influence of ADRC parameters on its control performance is studied by MATLAB,and the ADRC parameters are adjusted by the principle of separation.3.Combined with the requirements of dynamic index,static index and maximum coupling degree of the control system,the fitness function of the precision pesticide control system is designed,and the parameter optimization of ADRC controller for flow compensation and pressure loop based on PSO algorithm is studied.The simulation results show that the dynamic and static performance and anti-interference performance of pso-adrc control system are obviously better than PID control and ADRC control.4.designed the precision spraying system software system,built the hardware system,realized the PSO algorithm with STM32,optimized the flow compensation ADRC controller and the pressure loop ADRC controller,and achieved precise spraying.The experimental results showed that using the PSO-ADRC algorithm to control the precision spraying system,spraying the spray to save the pesticide 45%,and the pesticide utilization rate increased by 63%.