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| Design and simulation of variable weed spraying controller based on adaptive neural fuzzy inference system |
| Chen Shuren,Yin Dongfu,Wei Xinhua,Pei Wenchao |
| (Key Laboratory of Modern Agricultural Equipment and Technology,Ministry of Education & Jiangsu Province,Jiangsu University,Zhenjiang,Jiangsu 212013,China) |
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Abstract To reduce the amount of herbicide,variable herbicide spraying measure was used to control weeds.According to the respectively established relation model between weed size,spraying machine speed and spraying volume,it is found that the main factors that affect variable spraying were weed size and spraying machine speed.In order to obtain the experimental data about the relationship among spraying volume,spraying machine speed and weed size,an indoor variable spraying test rig was designed in which DSP processors were used to obtain weeds size information and encoder was used to obtain mechanical speed information.Combined with the experimental data obtained in the test stand,a double input,single output controller based on adaptive neural fuzzy inference system(ANFIS) was designed.The selection of input and output variables,the membership functions choice and the controller training were studied.The data error was 1.47×10-5 after 30 times training.Speed acquisitions,serial communication,the electromagnetic valve driving hardware structure and fuzzy control software process of the controller were designed.The ANFIS simulation model was established in Matlab.The simulation results show that when the opening time of nozzle is 0.2 s,the spraying machine speed is between 0-1 m/s,the weed size is between 0-100 cm2.The controller can change the spraying amount from 0-4 ml automatically.Compared to the traditional fuzzy control method,the controller is self-adaptable and has a good application prospect.
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Received: 06 January 2011
Published: 30 May 2011
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