变量喷雾流量阀的变论域自适应模糊PID控制

为解决变量喷雾过程中实时混药时农药微小流量的控制问题,采用小型针阀、直流电动机及减速器设计了机电流量控制阀。构建了机电流量控制阀传递函数的数学模型,并为之设计了变论域自适应模糊PID控制算法。对该流量控制阀进行了变论域自适应模糊PID控制和PID控制的MATLAB仿真,比较结果表明：PID控制的响应时间为3.5 s,最大超调量约为39.0%,变论域自适应模糊PID的响应时间为0.93 s,超调量最大不超过2.9%。系统稳定性,准确性和快速性等指标完全满足农业技术要求。     

番茄钵苗整排取苗手定位的模糊PID控制

为解决自动移栽机作业过程中由于机械手定位误差导致的抓取失败、伤苗及漏苗问题,实现整排取苗机械手准确快速定位,该文采用模糊PID控制算法实现自动取苗机械手的步进定位控制。根据整排取苗试验平台分析了机械手水平和竖直方向的定位精度需求,以两相混合式步进电机为对象建立步进电机角速度控制模型,设计模糊规则,建立模糊PID控制器,通过对误差及误差变化率的在线修正,来满足不同误差和误差变化率情况下的控制要求。应用MATLAB/Simulink进行系统仿真,从超调量、响应时间和稳定性指标验证了控制方法的可行性;以单位阶跃信号作为激励,分析PID和模糊PID的控制效果,结果表明:通过固定参数PID仿真分析,获得系统最优PID参数为KP=20,KI=0.2,KD=1,达到稳态所需的时间为0.285 s。在此参数下,模糊PID控制达到稳态所需时间为0.25 s,响应速度优于固定参数PID控制,系统无超调。固定参数PID和模糊PID控制加入扰动后的控制效果分析表明,模糊PID控制系统超调量为40%,达到稳态所需时间为1.34 s,均明显小于固定参数PID控制43%和1.45 s,表明模糊PID在具有扰动的环境中控制效果明显优于固定参数PID控制,步进电机系统快速响应,控制稳定。系统试验结果,模糊PID控制算法的最大误差为2.8 mm,定位平均相对误差为0.81%,定位准确度高,可以满足机械手水平定位精度要求。     

基于遗传算法的液肥变量施肥控制系统

为解决大田牵引式液肥施肥机的变量施肥作业精度不高、施肥流量不均匀以及肥料浪费问题,该研究针对液肥变量施肥控制系统,基于遗传算法的模糊PID(Proportion Integral Derivative)对电动比例阀的控制过程进行优化。首先对牵引式液肥变量施肥机的控制过程进行分析,建立液肥变量施肥控制系统的负反馈控制模型。根据控制系统要求,将模糊控制规则进行染色体编码,通过选择、交叉、变异等遗传算子对模糊控制规则进行仿真寻优,得到最优模糊控制规则表。依据得到的最优模糊控制规则对模糊PID控制器进行设置,并通过MATLAB软件进行仿真分析,结果表明,基于遗传算法的模糊PID控制的响应时间为4.86 s,小于传统PID控制的8.4 s和模糊PID控制的7.32 s。搭建试验平台进行液肥变量施肥控制系统流量控制的稳定性试验和变量控制试验,得到传统PID、模糊PID以及基于遗传算法的模糊PID在系统稳定运行时流量控制的相对误差分别为5.19%、3.40%、1.14%,响应时间分别为5.19、4.12、3.21 s,基于遗传算法的模糊PID较传统PID的相对误差减少了4.05个百分点,响应时间减少了1.98 s;基于遗传算法的模糊PID较模糊PID的相对误差减少了2.26个百分点,响应时间减少了0.91 s。基于遗传算法的模糊PID对液肥流量的控制效果优于传统PID和模糊PID,本文控制方法为变量施肥的研究提供了一种可行方案。     

基于含水率变化的气体射流冲击干燥过程温度自适应控制系统

为了给变温干燥工艺提供新的技术支持,实现基于含水率变化的干燥温度自适应控制,该研究设计了具有物料含水率在线检测功能的温度自适应控制系统。采用卷积神经网络建立了以质量检测值、气流冲击速度、称重传感器弹性基体温度、气流冲击距离为输入,物料真实质量为输出的含水率在线检测模型。进行了含水率在线检测模型验证试验。结果表明,该模型满足变温干燥工艺中含水率在线检测的精度要求,5组含水率在线检测模型验证试验的决定系数R²和均方根误差RMSE依次为0.9934和1.20%。该文设计了改进神经网络-PID（improved neural network-PID,INN-PID）控制器来实现变温干燥工艺中的温度控制。在MATLAB软件中以单位阶跃信号为输入对PID、神经网络-PID（neural network-PID,NN-PID）和INN-PID控制器的动态性能进行仿真。对3种控制器分别进行了50~55 ℃的干燥温度控制试验。结果表明,在仿真试验中,INN-PID控制器的控制稳定性和调节时间均显著优于另外两种控制器;干燥温度控制试验结果与仿真结果存在近似相同的规律,INN-PID控制器的峰值时间是208.00 s,调节时间是120.59 s,最大超调量是4.87 %,满足变温干燥过程中温度控制的要求。该研究在气体射流冲击干燥机中搭建了温度自适应控制系统,进行了基于含水率变化的温度自适应控制试验。结果表明,该系统可以对基于含水率变化的变温干燥工艺中的干燥温度进行快速且有效的调节。该研究对提高干燥设备的自动化水平以及开发新的变温干燥工艺具有重要意义,对其他领域的多信息融合检测和控制策略研究提供参考。     

高水分稻谷干燥工艺试验研究

针对中国南方地区稻谷收获季节需及时干燥高水分稻谷的市场要求,采用试验方法,在分批循环式稻谷干燥机上试验了低恒温干燥、变温干燥和变温干燥过程中增加缓苏时间的三种干燥工艺。依据试验结果,分析稻谷含水率、干燥介质温度、稻谷温度、缓苏烘干时间比等参数之间的联系与相互作用。试验表明：稻谷含水率高于21%时,降水速率可大于每小时1%,可采用60～70℃的介质。当稻谷含水率小于18%时,介质温度应小于60℃,降水速率小于每小时1%。当高水分稻谷进行了3～4次烘干缓苏后,利用中间缓苏仓增加缓苏时间,使稻谷内部与表层的温度、水分趋于平衡,有利于改善烘后品质和后续工艺的干燥降水。该结论对高水分稻谷干燥工艺设计和设备研制具有实用参考价值。     

基于模糊PID控制的再生稻自适应仿形割台性能试验与分析

为促进水稻再生季穗头萌发,头季稻机械收获时需保证300～450 mm的留茬高度,但水田泥脚深浅不一,收获时割台高度上下浮动,留茬高度难以保证,严重影响再生季产量。为此,该研究设计了一种自适应仿形割台,可实现割台高度及水平自适应调整。首先,对自适应仿形割台结构进行设计。然后,在Matlab/Simulink中搭建控制系统仿真模型,设计模糊规则,采用模糊PID控制方法对自适应仿形割台进行性能仿真,以超调量、响应时间和稳定性为指标,验证控制方法的可行性;以阶跃信号作为激励,对比分析了传统PID和模糊PID的控制效果,结果表明,模糊PID控制比传统PID的上升时间和到达稳态所需时间分别减少78.9%和81.6%,超调量由46 mm下降到8.2 mm。最后,搭建割台试验平台进行性能试验。结果表明,采用模糊PID控制时割台提升过程的平均响应速度约为0.216 m/s,下降过程的平均响应速度约为0.244 m/s,割台高程调节的平均误差6.75 mm,水平调节的平均误差为0.64°,割台调整迅速,定位准确度高,可满足再生稻头季收获使用需求。     

果园升降平台自动调平控制系统设计与试验

为提高果园升降平台调平精度和稳定性,设计了一种自动调平控制系统。通过调平机构动力学分析,建立了调平控制系统数学模型;利用融合卡尔曼滤波的模糊PID控制电磁阀驱动油缸伸缩调整工作台姿态,实现其自动调平。对控制系统进行仿真,结果表明:模糊PID控制较PID控制性能好,峰值时间缩短47.82%,调节时间缩短48.10%,最大超调量减小52.78%,经卡尔曼滤波后控制误差降低44.57%;对系统响应时间和调平效果进行测试,结果表明:自动调平控制系统响应时间为0.078 s;在平台不升降和升降2种工况下,最大坡度满载下自动调平最大误差分别为1.08°和1.74°,调平精度相对原果园升降平台调平系统分别提高了1.69°和1.91°,较好的实现了工作台自动调平控制。该研究为农业机具调平控制提供参考。     

自动补苗装置精准定位自适应模糊PID控制

为实现补苗装置精准定位控制,解决自动移栽作业过程中因穴盘缺苗和取苗投苗失败而导致的漏栽问题,采用自适应Fuzzy-PID控制算法来实现钵苗输送的步进定位控制。构建了步进电机角速度控制传递函数的数学模型,设计了自适应Fuzzy-PID控制器及其模糊规则,通过MATLAB的Simulink模块建立了基于模糊PID控制器的步进电机系统角速度控制模型,以阶跃信号作为激励信号,自适应模糊PID控制和PID控制的仿真试验表明:PID控制的响应时间为7 s,出现超调量为0.1的振荡,通过调整PID控制器参数增大比例系数,系统响应时间缩短为2.2 s,系统响应速度明显加快,且未出现振荡环节;自适应模糊PID的响应时间为0.12 s,步进电机系统快速到达阶跃响应的稳态值,步进电机角速度控制稳定,角速度响应快,满足钵苗输送的定位要求。自动补苗试验结果表明:在植苗频率为40、50与60株/min时,补苗成功率分别为100%,100%、95.8%,且只要光纤传感器检测到漏苗信号,基于自适应Fuzzy-PID控制的步进电机系统快速响应,补苗控制系统都能准确及时地进行自动补苗。该研究可为解决自动移栽机田间作业的漏栽问题提供参考。     

基于Smith-模糊PID控制的变量喷药系统设计及试验

为实现精准变量喷药技术,该文设计了旁路节流式变量喷药控制系统用于变量喷药和幅宽调节控制,运用流体网络理论建立系统的数学模型,将模糊PID控制与基于喷药流体网络模型的Smith预估控制结合起来喷药量的调节,并对国产3W-250型喷杆喷雾机进行改造并构建喷药试验平台。试验结果表明,基于喷药流体网络模型的Smith-模糊PID控制算法的动态响应更快,降低了变量喷药系统滞后性和非线性的不利影响,超调量小于13.1%,稳态误差小于3.52%,且具有较好的适应能力和鲁棒性,为精准变量喷药控制提供一种实现方法。     

基于性能指标的农用车辆路径跟踪控制器设计

该文以农用车辆为控制对象,设计了路径跟踪PID控制器。基于性能指标—ISE、IAE、ITAE和ITSE分别整定了PID控制器参数,给出了最优PID控制器,同时进行了仿真对比分析。仿真结果表明,以超调量和调节时间这2个时域指标为评价标准,基于上述4种性能指标准则,系统在所给控制器作用下均能获得令人满意的动态和稳态性能。ISE准则整定的PID控制器使闭环系统单位阶跃响应的超调量为25.55%,调节时间为5.07s。相比ISE准则,由IAE、ITAE和ITSE准则整定的控制器使闭环系统单位阶跃响应的超调量更小,为10.03%,调节时间更短,为3.95s。利用本文方法能够获得较好的PID控制器参数,可为农用车辆控制器设计提供理论依据。     

低氮和干旱胁迫对富士和秦冠生长及氮素利用的影响

【目的】以富士（Fuji）、 秦冠（Qinguan）嫁接在平邑甜茶（Malus hupehensis Rehd.）上的当年生盆栽苗为试验材料,采用砂培方法,研究了缺氮胁迫和干旱对富士和秦冠生长情况、 光合参数、 植株各部位氮磷钾含量及氮素利用效率的影响,分析比较了低氮干旱条件下富士和秦冠生长及氮素利用的差异,以期为果树生产高效肥水利用提供理论指导。【方法】试验共设四个处理: 正常氮正常水（ZZ）、 低氮正常水（DZ）、 正常氮干旱（ZG）、 低氮干旱（DG）。氮素和水分均设置两个水平,分别为正常氮（6 mmol/L NO-3-N）、 低氮（0.3 mmol/LNO-3-N）、 正常供水（保持盆中砂子相对含水量为饱和含水量的80%~85%）、 干旱处理（保持盆中砂子相对含水量为饱和含水量的60%~65%）。【结果】富士和秦冠的生物量（茎和叶）、 株高茎粗等生长指标以及光合速率、 气孔导度、 蒸腾速率均为正常氮正常水（ZZ）＞低氮正常水（DZ）＞正常氮干旱（ZG）＞低氮干旱（DG）,并且相对应处理下秦冠的以上指标均高于富士;正常供水下,缺氮处理使富士、 秦冠的根冠比比正常氮处理均有所增加,富士提高了2.05%,秦冠提高了22.40%。富士和秦冠的氮、 磷、 钾含量均表现出正常氮正常水（ZZ）＞低氮正常水（DZ）＞正常氮干旱（ZG）＞低氮干旱（DG）; 氮、 钾元素含量在植株各部位的分布顺序依次是叶＞根＞茎,磷元素则是根＞叶＞茎;光合氮素利用效率（PNUE）和氮素利用效率表现为秦冠处理之间差异极显著,富士处理之间差异不显著;秦冠的PNUE和NUE明显高于富士,在低氮正常水（DZ）处理下,秦冠氮肥利用率比富士高42.07%,在低氮干旱（DG）处理下高64.14%;低氮胁迫下富士和秦冠的NUE显著提高,并且秦冠提高的幅度高于富士。【结论】施用氮肥能够显著提高富士与秦冠的干物质量,同等水肥条件下,秦冠生长优于富士;水分亏缺会减少叶片对氮的吸收,干旱条件下适度增施氮肥,可提高果树的抗旱能力;低氮干旱胁迫下秦冠的生长指标、 光合指标及氮素利用效率指标均优于富士,表现出较强的抗低氮干旱胁迫的能力。     

Pasture Vegetation Elemental Analysis by Laser-Induced Breakdown Spectroscopy

Laser-induced breakdown spectroscopy (LIBS) is a new technique for the analysis of plant material. This study investigates the application of LIBS to pasture-based plant samples. The LIBS measurements were obtained from pelletized pasture samples (100 samples) that had been also analyzed by inductively coupled plasma–optical emission spectroscopy (ICP-OES) following microwave digestion for calibration and comparison purposes. Comparisons for elements sodium (Na), potassium (K), magnesium (Mg), calcium (Ca), manganese (Mn), iron (Fe), copper (Cu), zinc (Zn), boron (B), phosphorus (P), and sulfur (S) showed that LIBS could be used for almost all the standard profile total elements with concentrations down to low mg/kg levels (observed error of Na: 0.024 percent, K: 0.18 percent, Mg: 0.016 percent, Ca: 0.073 percent, P: 0.017 percent, Mn: 31 mg/kg, Fe: 150 mg/kg, Zn: 6.6 mg/kg, and B: 1.1 mg/kg). Elemental analysis at less than mg/kg levels was not possible using LIBS. The elements S and Cu were particularly difficult to analyze with reliability using LIBS at the concentration levels found in the plant samples. Replacing microwave digestion and subsequent ICP analysis with a direct analysis of dried plant samples using LIBS has the potential to improve the productivity and reduce the cost of testing.     

Faculty positions:Center for Agricultural Resources Research,Chinese Academy of Sciences

正The Center for Agricultural Resources Research(CARR),the Institute of Genetics and Developmental Biology(IGDB),Chinese Academy of Sciences,invites applicants for several research group leader positions.CARR is one of the research organizations in Chinese Academy of Sciences(CAS).We seek nominations and applications from individuals who have expertise and a record of accomplishment in research areas related to ecology,agro-hydrology,     

Biodiversity and ecogeography of wild Lactuca spp. in some European countries

Staff members of the Department of Botany of Palacký University in Olomouc and Gene Bank Department – Workplace Olomouc, Research Institute of Crop Production in Prague, Czech Republic, conducted an expedition in seven European countries (Austria, Czech Republic, France, Germany, Italy, the Netherlands, Switzerland) in August/September 1999 to collect wild Lactuca spp. germplasm and study its geographic distribution, ecology and biodiversity. During the mission, more than 600 locations were visited resulting in the collection of 602 seed samples (accessions) of wild Lactuca species and 13 seed samples of related genera (Chondrilla and Mycelis). Lactuca serriola f. serriola, L. serriola f. integrifolia, L. saligna and L. viminea subsp. chondrilliflora were prevalent in southern Europe (Italy, France), however, only L. serriola was common in central and western Europe (Austria, Czech Republic, Germany, Netherlands, Switzerland). The greatest diversity of Lactuca species was found in France, where also the most seed samples (165) were collected. The most characteristic habitats with a high density of Lactuca spp. populations were observed along roads and highways, grassy ditches, ruderal communities, and dust-heaps. Natural infections by powdery mildew (Erysiphe cichoracearum) and downy mildew (Bremia lactucae) on some wild Lactuca spp. were observed. Recent observations concerning the geographic distribution, population structure, habitats, and natural occurrence of diseases of Lactuca spp. are discussed. This assemblage of genetic resources of Lactuca spp. can serve as the basis of future studies of species diversification, spatial population structure, plant microevolution, domestication processes, and genetic variability of host-parasite interactions.     

Macroinvertebrates in North American tallgrass prairie soils: effects of fire, mowing, and fertilization on density and biomass

The responses of tallgrass prairie plant communities and ecosystem processes to fire and grazing are well characterized. However, responses of invertebrate consumer groups, and particularly soil-dwelling organisms, to these disturbances are not well known. At Konza Prairie Biological Station, we sampled soil macroinvertebrates in 1994 and 1999 as part of a long-term experiment designed to examine the effects and interactions of annual fire, mowing, and fertilization (N and P) on prairie soil communities and processes. For nearly all taxa, in both years, responses were characterized by significant treatment interactions, but some general patterns were evident. Introduced European earthworms (Aporrectodea spp. and Octolasion spp.) were most abundant in plots where fire was excluded, and the proportion of the total earthworm community consisting of introduced earthworms was greater in unburned, unmowed, and fertilized plots. Nymphs of two Cicada genera were collected (Cicadetta spp. and Tibicen spp.). Cicadetta nymphs were more abundant in burned plots, but mowing reduced their abundance. Tibicen nymphs were collected almost exclusively from unburned plots. Treatment effects on herbivorous beetle larvae (Scarabaeidae, Elateridae, and Curculionidae) were variable, but nutrient additions (N or P) usually resulted in greater densities, whereas mowing usually resulted in lower densities. Our results suggest that departures from historical disturbance regimes (i.e. frequent fire and grazing) may render soils more susceptible to increased numbers of European earthworms, and that interactions between fire, aboveground biomass removal, and vegetation responses affect the structure and composition of invertebrate communities in tallgrass prairie soils.     

Properties of anaerobically digested and composted municipal solid waste assessed by linking soil mesofauna dynamics and nitrogen modelling

We have studied the effect of anaerobically digested (ADMSW) and composted municipal solid waste (CMSW) on mineralization and foodweb dynamics to verify the hypothesis that ADMSW would immobilize N right after addition to soil in contrast to addition with CMSW. Another hypothesis was that the mesofauna (enchytraeids and microarthropods) would stimulate N release from the decomposer community. We measured excretion of -N and urea-N from the mesofauna and hypothesized that enchytraeids would release urea. ADMSW and CMSW were amended to pots with sandy loam and barley. The pots were divided into treatments with or without mesofauna. Mesofauna, plant N and biomass, soil N and ergosterol (fungal biomass) were measured over a 113-day period of four equidistant samplings. Soil respiration, N mineralization and N release by the mesofauna were modelled from concurrent studies. ADMSW- and CMSW-treated soils initially (<20 days) immobilized N. The amendments did not increase plant growth substantially, and this was probably due to N-limitation in the early stages of plant growth. Enchytraeid abundance was about three times higher in ADMSW- than CMSW-treated soils, indicating that ADMSW contained more labile compounds, bacteria, and microfauna. The mesofauna did not affect N-content, but the cumulated -N excreted by the mesofauna was estimated to be substantial and about one-fifth of total plant N in ADMSW. An explanation for this discrepancy might be that in the absence of the mesofauna, other members of the detrivore and microbivore community performed the mesofauna’s function. Neither enchytraeids nor microarthropods excreted urea.     

Faculty positions: Center for Agricultural Resources Research,Chinese Academy of Sciences

正The Center for Agricultural Resources Research(CARR),the Institute of Genetics and Developmental Biology(IGDB),Chinese Academy of Sciences,invites applicants for several research group leader positions.CARR is one of the research organizations in Chinese Academy of Sciences(CAS).We seek nominations and applications from individuals who have expertise and a record of accomplishment in research areas related to ecology,agro-hydrology,     

Faculty positions: Center for Agricultural Resources Research,Chinese Academy of Sciences

正The Center for Agricultural Resources Research(CARR),the Institute of Genetics and Developmental Biology(IGDB),Chinese Academy of Sciences,invites applicants for several research group leader positions.CARR is one of the research organizations in Chinese Academy of Sciences(CAS).We seek nominations and applications from individuals who have expertise and a record of accomplishment in research areas related to ecology,agro-hydrology,     

Variation in quality parameters between and within 14 Nordic tree fruit and berry species

Abstract

A 3-year study was carried out to investigate quality parameters in 14 tree fruit and berry species grown in southern Norway. The species were blueberry, apple, aronia, sour cherry, sweet cherry, red raspberry, strawberry, blackcurrant, gooseberry, red currant and elderberry, harvested along with wild bilberry, cloudberry and lingonberry. Significant differences between species were identified for all quality parameters. The coefficient of variation between species was lowest for pH (12.5%), dry matter (18.9%) and soluble solids (25.3%), followed by titratable acids (59.3%), total phenolics (83.8%), antioxidant capacity FRAP (85.7%) and antiradical power by the DPPH-assay (97.8%), total monomeric anthocyanins (132%) and ascorbic acid (137%). Average coefficient of variation within species were lower and ranged from 4 (pH) to 62% (ascorbic acid). Only the FRAP values were significantly affected by harvesting year with lower levels in 2004 than in 2005 and 2006. There were significant interactions between species and harvesting year for dry matter, soluble solids, pH, ascorbic acid and FRAP. The results indicate generic ranges in composition within species independent upon growing location and climate, and the composition of the tree fruits and berries is not likely to deviate from these ranges. It is concluded that desirable composition of tree fruits and berries and their products should primarily be achieved by selection among species rather than searching fors broadened variation within individual species.     

Potassium Fixation and Release Characteristics in Rhizosphere and Nonrhizosphere Soils for a Rapeseed–Rice Cropping Sequence

Potassium (K) fixation and release in soil are important factors in the long-term sustainability of a cropping system. Changes in K concentration and characteristics of K fixation and release in rhizosphere and nonrhizosphere soils in the rapeseed (Brassica napus L.)–rice (Oryza sativa L.) rotation were investigated using a rhizobox system. The concentrations of different forms of K in both rhizosphere and nonrhizosphere soils decreased with plants compared to without plants, regardless of K fertilizer application. Potassium uptake by crops mainly came from the rhizosphere soil. In the treatment without K fertilizer (–K), the main form of K supplied by the soil to the crops was 1.0 mol L^?1 nitric acid (HNO₃) nonextractable K, followed by nonexchangeable K, and then exchangeable K. In the treatment with K fertilizer (+K), the main K forms supplied by the soil to the crops were exchangeable K and nonexchangeable K. The amount and rate of K fixation after one cycle of the rapeseed–rice rotation was greater in rhizosphere soil than in nonrhizosphere soil. The amount and rate of K fixation of soil in the +K treatment were significantly less than in the –K treatment. The cumulative amounts of K released with 1.0 mol L^?1 ammonium acetate (NH₄OAc) and 1.0 mol L^?1 HNO₃ extraction increased with the increasing numbers of extractions, but the K-releasing power of soil by successive extraction decreased gradually and finally became almost constant. The release of K was less in rhizosphere soil than in nonrhizosphere soil. The release of K in the +K treatment was similar to that in the –K treatment in rhizosphere soil, but the K release in nonrhizosphere soil was greater with the +K than the –K treatment. Overall, the information obtained in this study will be helpful in formulating more precise K fertilizer recommendations for certain soils.