遥控喷杆喷雾机设计与试验

针对大田蔬菜种植病虫害防治需求，利用高地隙四轮转向液压底盘，设计一种遥控喷杆喷雾机。采用PID控制算法设计液压驱动系统和变量施药系统。液压驱动系统通过对比实时采集的实际车速和轮速计算各轮滑转率，以理想滑转率为控制目标进行实时动力分配；变量施药系统根据实时采集的实际车速和预设的目标单位面积施药量换算目标流量，以目标流量为控制目标进行实时喷雾流量调节。在韭菜田进行不同车速下的性能考核试验，结果表明：滑转率最大的车轮为左前轮，滑转率均值为6.14%，能稳定在理想滑转率范围内；滑转率最小的左后轮是轮上载荷最大的车轮，滑转率均值为0.76%，显著小于其他车轮；喷雾作业雾滴沉积率均值为93.4%，变异系数为21.6%，变量施药系统随速调节功能良好，但作业质量随着车速增加而略有下降。该喷雾机可为大田蔬菜种植智能化植保机械的研制提供参考。

Design and analysis of remote control boom sprayer

A remote control boom sprayer was developed using a four wheel steering hydraulic chassis with high clearance, to meet the requirement of disease and insect pest control of vegetable planting in the field. A PID control algorithm was used to design a hydraulic power system and variable spraying system. The hydraulic power system calculated wheel slip rate by comparing actual speed and wheel speed in real time, to take ideal slip rate as the control target for real time power distribution. The variable spraying system converted target flow rate according to actual speed in real time and target spray volume per unit area to adjust spray flow rate in real time with target flow rate as the control target. The results showed that the left front wheel had the largest slip rate with an average slip rate of 6.14%, which could be stable within ideal range of slip rate. The wheel with the smallest slip rate was the left rear wheel, which was the wheel with the largest load. The average slip rate was 0.76%, significantly smaller than other wheels. The average droplet deposition rate was 93.4%, and the coefficient of variation was 21.6%. The variable application system had excellent adjustment ability with increasing speed, but spray quality decreased slightly with increase in speed. The sprayer could provide reference for the development of intelligent plant protection machinery for vegetable planting.