CN-121995753-A - Dual-material accurate broadcast dynamic adjustment method and system based on travelling speed

CN121995753ACN 121995753 ACN121995753 ACN 121995753ACN-121995753-A

Abstract

The invention relates to the technical field of precise agriculture, and discloses a dual-material precise broadcasting dynamic adjustment method and system based on a travelling speed, wherein the dual-material precise broadcasting dynamic adjustment method based on the travelling speed comprises the steps of collecting original data and preprocessing; the method comprises the steps of testing initial parameters of material characteristics, calculating target flow of double materials, carrying out on-line identification and continuously updating the material characteristic parameters, constructing a mechanism inverse model, calculating a feedforward control command, calculating a feedback control quantity to obtain a comprehensive control command, superposing prediction compensation and dead zone compensation, establishing a coupling model to eliminate inter-channel interference, calculating proportioning deviation and carrying out multi-objective optimization, scheduling priority according to the saturation state of each channel, recording the whole process data of operation and calculating quality index, and establishing a control strategy model to carry out control decision optimization, so as to establish a multi-working condition parameter library.

Inventors

WANG AIQING
WEN RAN
ZHANG YING
YUAN XIAOMAN
LIU GANG

Assignees

大爱智丰生物科技(山东)有限公司

Dates

Publication Date: 20260508
Application Date: 20260126

Claims (10)

1. The accurate broadcasting dynamic adjustment method for the double materials based on the travelling speed is characterized by comprising the following steps of: Acquiring the original data of the three paths of speed sensors and the two paths of material flow sensors, and preprocessing to obtain an operation state sensing data set; Based on the operation state sensing data set, testing initial parameters of material characteristics, calculating target flow of double materials, and performing online identification to continuously update the material characteristic parameters to obtain a material characteristic self-adaptive modeling result set; Based on a material characteristic self-adaptive modeling result set, constructing a mechanism inverse model to calculate a feedforward control instruction, calculating a feedback control quantity to obtain a comprehensive control instruction, and superposing prediction compensation and dead zone compensation to obtain a double-channel executing mechanism comprehensive control instruction set; Based on the comprehensive control instruction set of the dual-channel executing mechanism, a coupling model is established to eliminate inter-channel interference, proportioning deviation is calculated, multi-objective optimization is carried out, and a coordinated and optimized control instruction set is obtained according to the saturation state scheduling priority of each channel; based on the control instruction set after coordination optimization, recording the whole process data of the operation, calculating the quality index, establishing a control strategy model for control decision optimization, and establishing a multi-working-condition parameter library to obtain a continuous improvement optimization result set.
2. The method for accurately broadcasting and dynamically adjusting double materials based on traveling speed according to claim 1, wherein the step of obtaining the operation state sensing data set comprises the following steps: obtaining a first path of speed signal based on the wheel speed sensor, and reducing the credibility weight of the wheel speed sensor when the difference between the acceleration of the wheel and the acceleration of the whole machine exceeds a preset slip threshold value; Obtaining a second path of speed signal based on the GPS positioning module, and mutually verifying the speed obtained by carrying out numerical differentiation on the position coordinates and the speed directly output by the GPS; integrating the acceleration signal based on the inertial measurement unit IMU to obtain third path of speed information; And fusing the three paths of speed information by adopting a Federal Kalman filtering algorithm, wherein the bottom layer is provided with three local filters for respectively processing the three paths of speeds, and the top layer main filter synthesizes the local filter results to obtain a fused speed estimated value and speed confidence coefficient.
3. The method for accurately broadcasting and dynamically adjusting double materials based on travelling speed according to claim 2, wherein the federal kalman filtering algorithm comprises: Aiming at a local filter of the GPS speed, dynamically adjusting the covariance of the observed noise according to the precision factor value output by the GPS module; the main filter performs weighted fusion according to the speed estimation value and the error covariance output by the local filter, and the weight coefficient is calculated according to the information matrix of each local estimation.
4. The method for accurately broadcasting and dynamically adjusting double materials based on the travelling speed according to claim 1, wherein the step of testing the initial parameters of the material characteristics, calculating the target flow of the double materials, and performing online identification and continuously updating the parameters of the material characteristics specifically comprises the following steps: Before the operation starts, executing a material characteristic test, controlling the seed and fertilizer discharging device to execute a step response test and a frequency response test, and identifying the material flow response characteristic; Identifying the characteristic parameter estimation value of the current actual material according to the test data by adopting a least square method; dynamically calculating the target instantaneous broadcasting flow by adopting a speed and flow mapping model based on the travelling speed, the operation breadth, the target broadcasting flow in unit area and the material characteristic parameters; introducing feedforward compensation of the speed change rate, and superposing feedforward compensation quantity on the basis of the target flow when the speed change trend is detected; and (3) carrying out online updating of the material characteristic parameters by adopting a recursive least square method, and introducing a forgetting factor mechanism.
5. The method for accurately broadcasting and dynamically adjusting double materials based on the travelling speed according to claim 1, wherein the construction mechanism inverse model calculates a feedforward control command, calculates a feedback control quantity to obtain a comprehensive control command, and superimposes prediction compensation and dead zone compensation, and the method comprises the following steps: establishing a dynamic transfer relation model of an executing mechanism from a control instruction to material output flow, and establishing a nonlinear relation model of seed and fertilizer discharge flow and rotating speed as a forward dynamic model; Constructing an inverse model based on a forward dynamic model, solving an inverse function on a static nonlinear relation of the flow rotating speed, and constructing a first-order advanced compensation link on a first-order inertia link; Introducing additional feedforward compensation of speed change prediction, multiplying the flow change prediction by a prediction compensation coefficient, and then superposing the flow change prediction to the feedforward control instruction; based on the deviation between the actual flow and the target flow, calculating a feedback control quantity by adopting a nonlinear PID feedback control algorithm, and introducing nonlinear proportional gain to adaptively adjust according to the deviation; Introducing an integral separation and integral limiting mechanism, suspending the integration when the absolute value of the deviation is larger than a preset integral separation threshold value, and stopping the integration when the control quantity reaches saturation; the dead zone compensation amount and the friction compensation torque are superimposed on the control command.
6. The method for accurately broadcasting and dynamically adjusting double materials based on the advancing speed according to claim 5, wherein the constructing the inverse model based on the forward dynamic model comprises: describing the relation between the flow and the rotating speed by adopting a quadratic polynomial, measuring the actual flow at different rotating speed points through a bench calibration test, and then fitting to obtain coefficients; solving an inverse function on the nonlinear relation of the flow rotation speed to obtain a mapping relation of the rotation speed to the flow; aiming at the dynamic response of a servo motor driving system, a first-order inertia link description is adopted, and a first-order advanced compensation link is constructed as a dynamic inverse model; And connecting the static inverse model and the dynamic inverse model in series to form a complete inverse model.
7. The method for accurately broadcasting and dynamically adjusting double materials based on the travelling speed according to claim 1, wherein the steps of establishing a coupling model to eliminate inter-channel interference, calculating proportioning deviation and performing multi-objective optimization, and scheduling priority according to saturation states of all channels comprise: Establishing a coupling characteristic model, fixing the control quantity of one channel by adopting a test identification method, applying a step change control quantity on the other channel, and fitting to obtain a coupling transfer function; calculating a coupling degree index, and starting a decoupling control mode when the coupling degree exceeds a preset coupling degree threshold value; Calculating decoupling compensation quantity by adopting a feedforward decoupling control strategy, inputting a control instruction of a counterpart channel into a coupling transfer function to obtain coupling interference quantity, and measuring the opposite number of the interference quantity by compensation; Calculating a ratio deviation based on the actual flow of the two channels, and starting a ratio coordination control mode when the ratio deviation exceeds a preset ratio deviation starting threshold; Establishing a multi-objective optimization function, weighting and summing all targets according to weight coefficients, and solving the optimal control quantity by adopting a constraint optimization algorithm; Defining channel priority, dynamically calculating according to flow deviation, deviation duration and control saturation degree, and correcting the proportion by adjusting the control quantity of another channel when one channel is detected to be saturated.
8. The method for dynamic adjustment of accurate broadcasting of double materials based on traveling speed according to claim 7, wherein the establishing the multi-objective optimization function comprises: The targets of the multi-target optimization function comprise two targets with minimum flow deviation, minimum flow proportioning deviation and optimal control instruction change smoothness; The constraint conditions comprise upper and lower limit constraint of the control quantity and constraint of the change rate of the control quantity; when one channel is saturated, the target flow of the other channel is obtained by back calculation according to the actual flow and the target ratio of the saturated channel.
9. The method for accurately broadcasting and dynamically adjusting double materials based on the travelling speed according to claim 1, wherein the steps of recording the whole process data of the operation and calculating the quality index, establishing a control strategy model for control decision optimization, and establishing a multi-working condition parameter library comprise the following steps: storing the data acquired in the operation process in a time sequence format to form an operation data log; Calculating the average deviation, the maximum deviation and the standard deviation of the flow after the operation is finished, and calculating the average value, the maximum value and the standard deviation of the ratio deviation; Based on the operation data, evaluating the dynamic characteristics of the control system by adopting a frequency domain analysis method, and identifying the bandwidth frequency and resonance frequency of the system; A machine learning method is adopted to establish a data-driven control strategy model, a neural network model is established, network input comprises current speed, speed change rate, target flow, actual flow and flow deviation historical sequence, and network output is the optimal control quantity; and optimizing control parameters by adopting a parameter automatic setting algorithm, and establishing a multi-working-condition parameter library aiming at different working conditions.
10. The system for accurately broadcasting and dynamically adjusting double materials based on the travelling speed is characterized by being used for executing the method for accurately broadcasting and dynamically adjusting double materials based on the travelling speed according to any one of claims 1-9, and comprises the following steps: The operation state sensing module is used for acquiring the original data of the three paths of speed sensors and the two-channel material flow sensor and preprocessing the original data to obtain an operation state sensing data set; The material characteristic self-adaptive modeling module is used for testing initial parameters of material characteristics based on the operation state sensing data set, calculating target flow of double materials, and continuously updating the material characteristic parameters by online identification to obtain a material characteristic self-adaptive modeling result set; The dual-channel execution mechanism control module is used for constructing a mechanism inverse model to calculate a feedforward control instruction based on a material characteristic self-adaptive modeling result set, calculating a feedback control amount to obtain a comprehensive control instruction, and superposing prediction compensation and dead zone compensation to obtain a dual-channel execution mechanism comprehensive control instruction set; The coordination optimization control module is used for establishing a coupling model to eliminate inter-channel interference based on the comprehensive control instruction set of the dual-channel execution mechanism, calculating proportioning deviation and performing multi-objective optimization, and scheduling priority according to the saturation state of each channel to obtain a control instruction set after coordination optimization; And the continuous improvement optimizing module is used for recording the whole process data of the operation and calculating the quality index based on the control instruction set after coordination optimization, establishing a control strategy model for control decision optimization, and establishing a multi-working condition parameter library to obtain a continuous improvement optimizing result set.

Description

Dual-material accurate broadcast dynamic adjustment method and system based on travelling speed Technical Field The invention relates to the technical field of precise agriculture, in particular to a dual-material precise broadcast dynamic adjustment method and system based on travelling speed. Background Along with the development of modern agriculture to the direction of precision and intellectualization, the precision fertilization and precision seeding technology has become a key technical means for improving crop yield, reducing production cost and reducing environmental pollution. In the agricultural mechanized operation process, the advancing speed of the operation tool can change in real time due to various factors such as relief of topography, soil conditions, operation of a driver and the like, and the traditional fixed-rate broadcasting mode cannot adapt to the dynamic change, so that materials are unevenly distributed in the field, not only is resource waste caused, but also crop growth quality is affected. Particularly, in an operation scene of simultaneously spreading double materials such as seeds, fertilizers and the like, how to accurately adjust the spreading quantity of the two materials according to the real-time change of the travelling speed, and ensure that the two materials are uniformly distributed according to a preset proportion and a target dosage is a technical problem to be solved in the current accurate agricultural field. The traditional agricultural machinery broadcasting device mainly adopts a mechanical transmission or simple electric control mode to carry out operation through presetting fixed broadcasting parameters, and the mode has obvious limitations. When the travelling speed of the working machine is increased, the passing working area in unit time is increased, if the broadcasting speed is kept unchanged, the broadcasting quantity of the materials in unit area is correspondingly reduced, and when the travelling speed is reduced, the broadcasting quantity of the materials in unit area is increased. The mismatch can cause serious uneven distribution of field materials, form uneven density phenomenon of fertilization or sowing, and directly affect germination, growth and final yield of crops. In a double-material broadcasting scene, the physical characteristics of two materials often have differences, such as different particle sizes, densities, flowability and the like, so that broadcasting control is more complex, and if broadcasting rates of the two materials cannot be accurately coordinated, the problem of uneven distribution can be further aggravated. Although some solutions of variable fertilization and variable sowing have been presented in the prior art, most solutions mainly focus on space variable control based on soil nutrient differences or crop growth states, namely, the application amount is adjusted according to requirements of different positions in the field, and insufficient focus is on the dynamic change in the time dimension during the operation, particularly on the instantaneous broadcasting requirement change caused by the fluctuation of travelling speed. Although some technologies introduce a speed detection function, the control strategy is relatively simple, the response speed is low, and real-time tracking and accurate compensation for rapid change of the travelling speed are difficult to realize. In addition, most of the prior art is designed aiming at single materials, lacks systematic solutions in the aspect of synchronous and accurate broadcasting of double materials, controls broadcasting of two materials are mutually independent, lacks a coordination mechanism, and cannot guarantee that the proportioning relationship between the two materials is kept stable in the dynamic operation process. Disclosure of Invention The invention provides a dynamic adjustment method and a system for accurate broadcasting of double materials based on travelling speed, which solve the technical problem that the accuracy and proportioning stability of broadcasting of the double materials cannot be maintained when the speed fluctuates in the related art. The invention provides a double-material accurate broadcast dynamic adjustment method based on a travelling speed, which comprises the following steps: Acquiring the original data of the three paths of speed sensors and the two paths of material flow sensors, and preprocessing to obtain an operation state sensing data set; Based on the operation state sensing data set, testing initial parameters of material characteristics, calculating target flow of double materials, and performing online identification to continuously update the material characteristic parameters to obtain a material characteristic self-adaptive modeling result set; Based on a material characteristic self-adaptive modeling result set, constructing a mechanism inverse model to calculate a feedforward control instruction, calculating a feedba