基于BAS-PID控制的精准变量施药系统仿真与试验

精准变量施药技术是精准农业的重要内容之一,为解决当前常用的变量施药方式存在的控制精度低、超调量大等不足,提出将天牛须搜索(Beetle Antennae Search,BAS)算法与常规PID控制结合形成BAS-PID控制算法,用于变量施药系统控制。首先建立施药控制系统机理模型并基于Matlab平台进行软件仿真,仿真试验结果表明,BAS-PID算法的超调量为0.024 1,绝对误差为1.14%,均低于常规PID和模糊PID,控制效果更好。在吉林农业大学试验田进行了田间施药试验,根据试验数据分析,BAS-PID、模糊PID以及常规PID的平均施药误差分别为0.016 L/min、0.020 L/min、0.238 L/min,平均超调量分别为0.006 L/min、0.016 L/min、0.238 L/min。BAS-PID控制算法的施药误差仅在0.01~0.02 L/min内,误差范围小,总体而言,该算法的施药误差和平均超调量都低于模糊PID和常规PID,系统应用效果好。试验结果表明:本文提出的BAS-PID算法提高了PID算法的参数适用性,施药控制精度高,超调量小,改善了变量施药系统的施药效果,可为推动精准变量施药技术的发展提供新的技术方案。

Simulation and experiment of precision variable spraying system based on BAS-PID control

Accurate variable application technology is one of the important contents of precision agriculture. In order to solve the shortcomings such as low control precision and large overshoot of the commonly used variable application methods, this paper proposes to search for Beetle Antennae Search(BAS). The algorithm combines with conventional PID control to form a BAS-PID control algorithm for variable drug application system control. Firstly, we establish a mechanism model of the application control system and perform software simulation based on the Matlab platform. The simulation results show that the overshoot of the BAS-PID algorithm is 0.024 1 and the absolute error is 1.14%, which is lower than the conventional PID and fuzzy PID and the control effect is better. Field application experiments were carried out in the experimental field of Jilin Agricultural University. According to the experimental data analysis, the average application errors of BAS-PID, fuzzy PID and conventional PID were 0.016 L/min, 0.020 L/min and 0.238 L/min, respectively. The average overshoot was 0.006 L/min, 0.016 L/min, and 0.238 L/min, respectively. The application error of BAS-PID control algorithm is only in the range of 0.01~0.02 L/min and the error range is small. In general, the application error and average overshoot of the algorithm are lower than the fuzzy PID and the conventional PID. And the system application effect is good. The experiment results show that the proposed BAS-PID algorithm improves the applicability of the parameters of the PID algorithm. The application control precision is high and the overshoot is small, which improves the application effect of the variable application system. The algorithm can provide new technical solutions for promoting the development of precision variable application technology.