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The Application of Adaptive PID Control in the Spray Robot

Agriculture and forestry's robot is an important branch of intelligent robots, the research began in the late seventies, and greenhouses application that is in a important place in the forestry and agricultural industry are growing. PID control (P: proportion, I: integral, D: differential coefficient) is the earliest one of the developed control strategies, because it involves the design of algorithms and control structures that are very simple and very suitable for engineering background, so PID controller is the most widely used control strategy in industrial practice. As the actual production process is often nonlinear and time varying uncertainty, using the conventional PID controller cannot achieve the desired effect of control. This article describes the adaptive PID control in greenhouses spray robot.

Existing System:
Without a PID control the error rate will be more in a system. Settling time of the system without PID is more, but the system with PID control requires less time to settle and has reduced error rate.

Proposed System:
Adaptive PID control algorithm in the field of mobile robots has been widely applied, but the application in the greenhouse spray robot is relatively less. According to the requirements of our project, the following part mainly analyzes the characteristics of greenhouse operation, and applies adaptive PID control to the trajectory control and spray system of the spray robot. Firstly By monitoring the water flow values of pipeline to get the actual value, the controller compare it with the setting flow value, then make flow error e (k) and the error rate ec (k) the controller inputs; Secondly it transform into a set of value; Thirdly after that, controller obtain the incremental value of control quantity, then the controller obtains the clear value to adjust the speed of the miniature pump so that the water flow value is consistent with the setting value. The spray robot is controlled using RF communication using Keypad interfaced with the microcontroller. Flow sensor is used to measure the water flow and according to the set value the water flow is maintained within the limit.

Block Diagram: Control Section:


Power Supply

Keypad

8051 Microcontroller

RF Transmitter

Robot Section:
Power Supply

RF Receiver

LCD Display

Flow Sensor

PIC Microcontroller

Driver Circuit

Robot Mechanism

Driver Circuit

Pump Motor

Hardware Requirements:
PIC16F877A & 8051 Microcontroller unit Flow Sensor. LCD Display RF transmitter and receiver. Spray robot Mechanism.

Software Requirements:
Embedded C MPLAB or CCS Compiler

Advantages: Reduced Error rate.


Linear output.

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