1080

JOURNAL OF NETWORKS, VOL. 8, NO. 5, MAY 2013

An Intelligent Irrigation System Based on

Wireless Sensor Network and Fuzzy Control
Liai Gao

Agricultural University of Hebei, College of Mechanical and Electrical Engineering, Baoding, China
Email: gaoliai111@126.com

Meng Zhang

China Agricultural University, College of Information and Electrical Engineering, Beijing, China
Email: zm0312@126.com

Geng Chen

Agricultural University of Hebei, College of mechanical and electrical engineering, Baoding, China
Email: 1581286612@qq.com;

AbstractIn order to resolve the problems which include

loss of soil fertility and waste of water resource in
agriculture production, we design an intelligent irrigation
system based on wireless sensor networks and fuzzy control.
The system mainly consists of wireless sensor networks and
the monitoring center. All of the nodes in Monitoring area
use solar power, collect the information of soil moisture,
together with the growth information of different crops in
different periods. Soil moisture content deviation and the
rate of change of deviation are taken as input variables of
fuzzy controller, and the fuzzy control regular database is
established for the fuzzy irrigation control system. The
monitoring center receives the data transmission from
wireless sensor network node, and output information of
irrigation water demands to the relay via a wireless sensor
network to control opening and closing time of the valve in
crop areas. The experimental results show that the system
has a stable and reliable data transmission, which achieve
real-time monitoring of soil on crop growth, give a right
amount of irrigation based on crops growth information,
which has broad application prospects.
Index Termswater-saving irrigation, wireless sensor
network, fuzzy control strategy, sensor

I. INTRODUCTION
With the rapid development of agriculture in China,
the water consumption was increasing. As the shortage
and waste of the low utilization of Chinese agricultural
water
resources
were
being
existence,
the
implementations of water-saving irrigation were more
and more crucial [1]. Soil moisture content is a
prerequisite for the crop growth, while excessive soil
moisture would cause the rot of crops roots, took away a
lot of fertilizer which will cause water pollution. With the
development of computer technology and sensor
technology, monitoring and control of soil moisture
content had made great progress [2], but there remained
two main problems: First, most of irrigation control
system worked in a wired manner, using serial bus and
2013 ACADEMY PUBLISHER
doi:10.4304/jnw.8.5.1080-1087

field bus technology, therefore it had a complex wiring,

installation and maintenance costs. Second, the crop
water requirement was a physical quantity with various
environmental factors, with a strong coupling and
complexity, it was difficult to establish a precise
mathematical model, and fuzzy control has good
robustness, dynamic response, so it is very suitable for
application in irrigation systems and does not depend on
accurate mathematical model.
Experts and scholars at home and abroad have applied
wireless sensor networks and fuzzy control technology in
the irrigation system separately. Literature [3] proposed a
soil moisture detection system based on ZigBee wireless
network, and all the references only stated monitoring
soil moisture content and had no control function;
Literature [4] used WSN based on ZigBee technology in
the precision farming, which had a detailed analysis of
the deployment of wireless sensor nodes in soil
environment and the construction of the gateway and a
base station node; Literature [5] set up a small farmland
data acquisition platform using ZigBee network, and
obtained information of the solar energy, wind and
current; Literature [6] achieved a remote monitoring of
irrigation system through the distributed WSN and GPRS;
Literature[7]put the fuzzy control to the greenhouse
monitoring system; Literature [8] proposed a soil
moisture monitoring system based on ZigBee, through
controlling solenoid valve to control soil moisture rate in
irrigation area, but need the support of electric.
In summary, combined with the advantages of wireless
sensor networks and fuzzy control technologies, an
intelligent irrigation system was designed. First of all,
ZigBee wireless network technology was used in this
design. Because it had low power consumption, low cost,
free wireless communication frequency characteristics,
which could replace the wired connections in the
traditional system. With solar cell, solar energy was
collected and stored in lithium battery to provide power
supply for the system. Secondly, the environment factor

JOURNAL OF NETWORKS, VOL. 8, NO. 5, MAY 2013

of influence irrigation volume was analyzed, a reasonable

irrigation methods for crop water requirement and soil
moisture information was selected , as we all known, the
soil water environment has the characteristics of big
inertia, non-linearity and strong coupling, in this design
we introduced fuzzy intelligent control technology to
analysis and processing the soil moisture. Adopt
MATALB for the generation of the fuzzy controller and
the fuzzy control table, using Simulink for the simulation.
On the basis of the LabVIEW virtual instrument
development platform, a software program for intelligent
irrigation monitoring system was designed. Modular
design was adopted in this design; it could realize the
signal collection for real time monitoring, data display,
data processing, control signal output, and other functions.
The whole software system operation had friendly
interface, convenient development and maintenance. In a
word, the system use fuzzy control technology, sensor
technology, wireless sensor network (WSN) technology,
and agricultural irrigation technology, which can realize
the intelligent agricultural irrigation and increase the
efficiency of agricultural water.
II. SYSTEM ARCHITECTURE
The whole monitoring system had two parts: a wireless
sensor network and monitoring center. Sensor nodes, the
controller node, soil moisture sensors, irrigation pipe,
spray irrigation and irrigation control valve were
deployed in crop-growing regions, the framework of the
monitoring system was shown in Fig. 1. ZigBee network
was adopted in mesh network topology. In order to meet
the network coverage and reduce the node energy
consumption and cost at the same time, we selected a
small amount of sensor nodes as routers, to complete the
data gathering and routing data from other equipment to
the coordinator. And most of the sensor nodes act as
terminal devices, only collect data and sent to the router
or near the coordinator; A control panel was extend to the
sensor nodes to make up for controller node, data
acquisition can be proceeding at ordinary times, control
valve can be opened to realize the irrigation when
receiving irrigation command.
Wireless sensor network consisted of sensor nodes,
routing nodes and coordinator node, distributed in all
regions of the monitoring area [9, 10]. All nodes were
powered by solar energy. Nodes used modular design,
the three kinds of nodes used common core modules, and
different nodes with different extension modules. The
temperature and humidity sensor collected temperature
and humidity information; routing nodes was responsible
for routing communication and forwarding data; the
coordinator node received data from routing node and
sent it to the host computer monitor center through
RS232 serial bus. The monitoring center could record
real-time soil moisture content uploading from all nodes,
calculate crop irrigation water requirement according to
the plant physiology characteristic in different growth
period, and output result to relay by wireless sensor
network, control opening and closing time of valve, so as

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to realize the remote automatic adjustment and control for

irrigation.

Figure 1. Framework of the system

In order to solve the node energy supply problem, we

proposed a supply system based on solar energy [11],
which is composed by solar modules, Energy
management controller, and lithium battery.
The solar module can not only charge the lithium
battery, but also supply power to the sensor node;
similarly, lithium battery can supply power to the sensor
node. The microprocessor of the energy management
controller collect voltage of solar panels and lithium
battery, then transmit the feedback information to the
controlling circuit. The controlling circuit executive
power supply and charging scheme according to the
information of the microprocessor effectively solve the
problem of battery charged frequently. Under the
condition of continuous power supply, the priority for
power supply is solar panels, lithium batteries. If the
lithium battery is not saturated, the solar battery charge
for lithium batteries; when sunshine is insufficient or no
sunshine, added lithium battery power supply or power
supply separately.
III. WIRELESS SENSOR NETWORK NODES
There were three kinds of wireless sensor network
nodes: sensor nodes, route nodes and the coordinator
node. All of the nodes made cc2530 as the core, matched
by the different extension modules. The CC2530 is a true
System-on-Chip (SoC) solution specifically tailored for
IEEE 802.15.4 and ZigBee applications. It enables
ZigBee nodes to be built with very low total bill-ofmaterial costs. The CC2530 combines the excellent
performance of the leading RF transceiver with an
industry-standard enhanced 8051 MCU, 32/64/128/256
KB flash memory, 32/64/128/256 KB RAM and many
other powerful features. The CC2530 has different
running mode, makes it particularly suitable for low
power requirements of the system. Node hardware
structure diagram is shown in Fig. 2.

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driver circuit

RTC

solenoid valve

negative pulse, and it is very suitable for the occasions

without alternating current.

CC2530
soil humidity
sensor

microprocessor
8051

IV. FUZZY CONTROL ALGORITHM

RF module

reset circuit
solar cells

energy management
controller

lithium battery

Figure 2 . The hardware structure diagram of node

A. Sensors
The type of soil moisture sensor is TDR-3A, which is
produce by Jinjiang Sunshine Technology Co., Ltd .The
sensor is an ideal instrument, which can measure soil
temperature and humidity and has the features of sealed,
waterproof, high precision. The main performance
indexes of the sensor are shown in table I.

The soil environment is a large inertia, nonlinear and

time delay system, it is very difficult to establish a precise
mathematical model, and because of the unified,
variability and complexity in the greenhouse field
conditions, it is difficult to achieve precise control if we
the traditional control method [12]. we select fuzzy
control theory of intelligent control method .Fuzzy
control theory does not need to establish accurate
mathematical model of controlled object, robust, it is
suitable for the lag, nonlinear and time-varying system,
so it is suitable for using fuzzy control strategy to realize
the controlling of the monitoring system.
Whether to construct fuzzy controller reasonably is
related to the precision of fuzzy control system, the
structure of fuzzy controller is shown in Fig. 4.

TABLE I.SENSOR TECHNOLOGY PARAMETERS

Measured
parameters

humidity

knowledge
base

Performance index
range: 0100%
accuracy: 2%
measuring field: the cylinder which diameter is 3
cm, length is 6 cm around the probe
Working voltage : 12V24V DC
Working circuit: 5070mA,
output: 4~20MA

B. Output Control Module

Irrigation actuator output control signal to the relay,
thus control irrigation time of the valve open. This paper
adopts NPN triode drives relay, the driving circuit is
shown in Fig. 3.
VCC(12V)

relay
control signal

4007

R2

8050

R1

Figure 3. The driving circuit of the relay

The type of Solenoid valve is 100-DVF which is

produced by Rain Bird Corp. It is normally in closed
solenoid valve. The function is opening and closing the
water of pipeline according to the control signal sending
by the device. The valve is equipped with a TBOS control
module, valve start-stop is controlled by positive and

2013 ACADEMY PUBLISHER

humidity

E
EC

fuzzification

fuzzy
reasoning

defuzzication

output

Figure 4. Structure of fuzzy logic controller

E is soil humidity deviation; EC is the rate of change

of deviation over time.
The reasoning process is divided into the following
steps [13]: first the continuous input, output is converted
to a fuzzy subset, its domain is defined, and fuzzy table is
set up according to the actual change range of the input
output. Establish the knowledge base through the
knowledge and experience of experts, and form the fuzzy
control rule, use fuzzy table and fuzzy control rule table,
the fuzzy control fuzzy control, into the final amount.
Calculate the amount of the corresponding fuzzy control;
finally, make fuzzy control amount defuzzification for
transforming into ultimate control parameters.
(1) The Fuzzification of Precise Variable
For the fuzzification operation of precise variable
usually include selecting fuzzy variables, quantifying
input data and determining the membership function.
Select E as the input variables, the language variables of
corresponding deviation are divided into 5 grades, which
can reflect the size: NB = negative big, NS =negative
small, Z = zero, PS = positive small, PB = positive big.
Assume that changes in humidity around 20%, the basic
domain of deviation humidity is [20, +20] , according to
the formula:
2n + 1 = km
(1)
where n is the number of elements; m is classification;
the value of k is 2.
So the fuzzy domain is (-4, -3, -2, -1, 0, 1, 2, 3, 4);
The basic domain of another input variable ECH is [-5,
+5], fuzzy domain (-4, -3, -2, -1, 0, 1, 2, 3, 4) .

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The results of the fuzzy control is the opening time

controlled by solenoid valve, we use U as an output
variables, fuzzy linguistic variables Z (zero), DS
(short-term), ZS (middle-term), CS (Large-time). Set
the basic domain is [0,30] , the fuzzy domain (0, 1, 2, 3).
According to the formula KET = n / Z i
(2)
The quantization factor of respective variable can be
determined.
So,
the
humidity
quantitative
factor
KET1 = n / Z1 = 4 / 20 = 0.2 ;
Humidity
deviation
quantization
factor
KET2 = n / Z 2 = 4 / 5 = 0.8 ;
The
output
control
quantization
factor
KET3 = n / Z1 = 3 / 30 = 0.1 ;

Through above formula, elements of Ai , Bi , Ci in the

fuzzy domain can be calculated which is correspond to
the accurate digital quantity eTi .
Ai = KET1 eT 1
(3)
Bi = KET2 eT 2
(4)
Ci = KET3 eT 3
(5)
By this method, each variable domain ,fuzzy subset,
quantitative grade, fuzzy domain and the quantification
factor is completed, the results is shown in table II.

TABLE II. EACH VARIABLE DOMAIN, FUZZY SUBSET, QUANTITATIVE GRADE, FUZZY DOMAIN, QUANTIFICATION FACTOR

variable

domain

[-20%,+20%]

EC

[-5,+5]

[0,30]

fuzzy subset
Ai
(NB, NS, Z, PS, PL )
Bi
(NB, NS, Z, PS, PL )
Ci
(Z, DS, ZS, CS )

quantitative grade
(- 4, - 3, - 2, - 1, 0, 1, 2,
3, 4)
(- 4, - 3, - 2, - 1, 0, 1, 2,
3, 4)
(0, 1, 2, 3)

(2) Determine the membership function

This study use triangle membership function, Fuzzy
input variables membership assignment is shown in table
.
TABLE III.
fuzzy
variables
NB
NS
Z
PS
PB

FUZZY INPUT VARIABLES MEMBERSHIP ASSIGNMENT TABLE

-4
1
0
0
0
0

-3
0.5
0
0
0
0

-2
0
0.5
0
0
0

E/EC
0
0
0
1
0
0

-1
0
1
0
0
0

1
0
0
0
1
0

2
0
0
0
0.5
0

3
0
0
0
0
0.5

4
0
0
0
0
1

TABLE

Fuzzy variable
Z
DS
ZS
CS

0
1.0
0
0
0

1
0
1.0
0
0

2
0
0
1.0
0

3
0
0
0
1.0

(3) The fuzzy control rules

Formulate rules of fuzzy control principle is make the
static and dynamic characteristics of system output
response for the best [14, 15]. That is to say when the
output deviation of the system is bigger, we need to select
control variable quickly for the purpose of reducing or
even eliminating bias; when the system output deviation
is small, we must take the system stabilization as the goal
when selecting control variable, at the same time pay
attention to overshoot phenomenon. For the temperature
factor, the fuzzy control rules are as follows:

2013 ACADEMY PUBLISHER

quantification factor

0.2

0.8

0.1

If E is Ai and EC is Bi THEN U is Ci

(6)

(4) Fuzzy reasoning

The key of fuzzy controller is fuzzy reasoning; it refers
to the process of the simulation of the human brain
thinking based on fuzzy concept. In this study, Mamdani
fuzzy model is selected as reasoning method, a
corresponding membership value is obtained from the
current quantized input variables, and then from the fuzzy
control rules, we can get output control quantity of fuzzy
variable. The fuzzy control rules table is shown in table 4.
TABLE V. THE FUZZY CONTROL RULES TABLE

Fuzzy input variables membership assignment is

shown in table IV.
TABLE IV. FUZZY OUTPUT VARIABLES MEMBERSHIP ASSIGNMENT

quantitative grade

NB
NS
Z
PS

NB
Z
DS
DS
ZS

NS
Z
DS
ZS
ZS

E
Z
Z
Z
Z
ZS

PS
Z
Z
Z
Z

PB
Z
Z
Z
Z

PB

CS

CS

CS

EC

(5)Defuzzification
The output of fuzzy controller is a fuzzy set, in general,
we often require a relatively precise control signal as the
object [16]. Defuzzification is to construct mapping from
a set of fuzzy to the normal set, convert the fuzzy output
into a precise controlling quantity, it is also called
cleanness. Some method are often used, such as the
median method, gravity method, gravity method is used
in this study, the expression for the
n

i =1

i =1

zi = i A( i ) / A( i )

(7)

Among them, n is the number of fuzzy variables;

fuzzy variable; A( i ) fuzzy variable corresponding to

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JOURNAL OF NETWORKS, VOL. 8, NO. 5, MAY 2013

membership. After Defuzzification, we can obtain the

output of the exact amount.
B. System Simulation
This article use Simulink for the fuzzy controller
simulation. First fuzzy controller is designed based on the
theoretical design of the front; the model is shown in
Fig.5.

y1 and x1 are determined experimentally by the system.

Simulation mathematical model are created in Simulink
module in accordance with the principle of the fuzzy
controller, fuzzy controller simulation model and the PID
controller model is shown in Fig. 8.

Figure 8. The simulation model

Figure 5. The model of fuzzy control

Fuzzy rule base is designed after determining the

membership function, thereby generating fuzzy rule table,
as shown in Fig. 6.

Set humidity value is 37%, the output curve of the

fuzzy controller simulation and PID controller simulation
are shown in Fig. 9. From the simulation graph we can
see that the PID control response speed is faster than the
fuzzy control, but overshoot ratio is greater; the fuzzy
controller system has more stability relatively, it is more
suitable for greenhouse irrigation control.

Figure 6 .Fuzzy rule table

Based on the fuzzy base, we can get a surface plot of

the fuzzy control, as shown in Fig. 7.
Figure 9 .The simulation curves of PID controller and fuzzy controller

V. SOFTWARE DESIGN

Figure 7. Fuzzy control surface

Soil moisture content change is a slow and

complicated process; it has a certain relationship with the
surrounding environmental factors, it is almost
impossible to establish a precise mathematical model. so
we select formula (6) as a reference model.
y = y1 sin( t / x1 )
(8)
Wherein y is humidity change, t is valve conduction
time after conversion of irrigation quantity,

2013 ACADEMY PUBLISHER

A.Software Diagram
The software design includes the design of the ZigBee
node and the monitoring center, the architecture of the
overall software system is shown in Fig.10. The
development of node is based on the MAC and physical
layer offered by the ZigBee protocol stack, mainly relates
to the data acquisition and network frame problem [17].
Coordinator node is responsible for configuring the
network parameters, initiation network and network
maintenance work, reception of data acquisition and
transmission threshold of temperature and humidity[18].
The main task of sensor node is data acquisition and
transferring, after completing initialization protocol stack
and hardware, the terminal node start scanning channel,
and then sends the information of joining the network. If
confirmed, it began to collect data through the sensors,
and then sends to the coordinator node through the

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1085

wireless transmission. The flow of the node program is

shown in Fig.11.
sensor node

acquire
data

start
and
stop
the
valve

monitoring platform

coordinator node

form a
network

transmit
data to
host
comput
er

VI. EXPERIMENTAL RESULT

transmit
the
threshold
to
sensor
node

display
network
status

display
the
data

handle
and
store
data

Figure 10. Architecture of the overall software system

sensor nodes

coordinator nodes

SRART

ST ART

Initialization protocal
stack and hardware

Initialization protocal
stack and hardware

Start networing

join network

networing success
form ID

wirless
network

curves and color. The system includes a connection state,

data acquisition, data processing and alarm, data storage
and other functions. The monitoring platform is shown in
Fig. 12.

send device address

receiving data from

sensor nodes

collect data

upload data
by serial port

send data via radio

Figure 11. Flow of the node program

In order to test the validity of data transmission, we

selected an agriculture sightseeing garden located in
XuShui, Hebei province as the experimental base. The
base had 10 greenhouses with tomato as the main crops.
We selected Mar. 5, 2013 as the test date, and that day
was in the tomato blossom period. The test system
consisted of two sensor nodes and a sink node.

A Wireless Transmission Test

Wireless transmission test is divided into point-topoint and networking communication test. One
coordinator and a sensor node are opened when conduct
point-to-point communication test, the distance between
these two nodes increase from 30 mile to 300 mile, the
sensor node send a frame data to the coordinator node at
intervals of 1 minute, write down the number of packets
which the gateway node receives within one hour (out of
a total of 60).Two sensor nodes are opened when conduct
the network communication test, the distance still starts
from the 60 miles, add the distance between nodes and
coordinator node gradually,, until the two nodes are
separated by 300 m, the sensor node send a frame data to
the coordinator node at intervals of 1 minute, write down
the number of packets which the gateway node receives
within one hour (out of a total of 60). The number of
packets from coordinator node in different methods is
shown in table VI.
TABLE VI. THE NUMBER OF PACKETS IN DIFFERENT METHODS

B. Design of the Monitoring Platform

Figure 12.Wireless testing platform

The graphical programming language LabVIEW is

used for the design of the monitoring platform [19].
Graphical programming can be more intuitive and
effective to complete the test task. Designers judge
wireless sensor network state through different buttons, at
the same time, the tested results from calculation and
analysis of scientific is display through the different

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method
distance
30
60
90
120
150
180
210
240
270
300

point-to-point

networking

59
58
56
55
54
52
50
48
47
45

55
54
53
52
51
50
48
46
45
43

From table VI, we can see that the distance of network

transmission is less than point-to-point test, because all
nodes in the network send a packet to the coordinator
node after networking, resulting in data redundancy and a
lost package phenomenon, especially in the distance of
more than 200 miles, due to the influence of the obstacle,
the packet reception rate is below to 80%.

BSoil Water Content Monitoring Test

The soil moisture is set in 34% and the probe was
embed for the depth of 15 cm The soil moisture is set in
34% and the probe was embed for the depth of 15 cm.
When moisture content detected by the sensor is lower

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than the set threshold, the control system open the

solenoid valve, after 20 minutes (this time can be setting
according to different vegetation and soil) closing
solenoid valve for water infiltration. Test again after 5
minutes, if the moisture content is still lower than the
setting threshold; continue to start the solenoid valve. The
humidity test result is shown in table VII.
TABLE VII. THE HUMIDITY TEST RESULTS
Time
9:58
10:08
10:29
11:35
12:12
12:58
13:27
14:15
14:48
15:22
16:06
16:54

humidity
Node 1
25.1
25.8
33.5
31.6
28.3
32.3
34.8
30.9
33.6
31.4
34.2
32.5

Node 2
24.3
24.9
32.9
30.9
28.1
32.1
34.6
30.5
33.1
31.0
33.9
32.1

From table VII, we can see that soil moisture content

has significant change after the irrigation for at least 10
minutes, , the system is running well in the later time, the
error between the measured soil moisture content and
value is around 2%, which indicated the system could
regulate greenhouse temperature and humidity value
according to the fuzzy control rules. That was to say,
when the plants lacked water, the valve could be opened
for irrigation. When humidity met the requirement,
irrigation would be stopped, and thereby achieved water
conservation.
Since node 1 was located in the lower part of the dense
foliage of tomato plants, the relative humidity measured
by node1 was a little higher than node 2.The measured
results basically agreed with the reality, so to achieve the
test requirements.
VII. CONCLUSIONS
Aiming at the shortcoming in the irrigation system, this
design has combined wireless sensor network with fuzzy
control system in the intelligent water-saving irrigation
system, realized a remote on-line monitoring and
controlling. Nodes in the monitoring area have used
devices of solar energy and lithium battery to provide
power, which has certain practical significance to solve
the problem of limited energy; using the set of multiple
hops network protocol to communicate, the nodes have
the feature of self-organizing, low power consumption
and high reliability. The system has adopts control
method of double input and single output fuzzy, used
Fuzzy Logic toolbox for modeling and analyzing of the
system, and demonstrated the relationship between
system input and output, made the control system much
scientific. Host computer receives soil water content
information collected by the nodes, and transmits
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information by setting a threshold of open time of

solenoid valve, so as to achieve the goal of water-saving
irrigation. The experimental results show that the system
can realize automatic real-time monitoring of soil
moisture content in crops grow, and combined with crop
growth information to irrigate moderately the system. It
has not only benefited to crop growth and development,
but also avoided the waste of water resources; finally it
can achieve better productivity, high efficiency and
quality, and water-saving.
ACKNOWLEDGMENT
This work was supported in part by a grant from the
high school scientific and technological research
guidance project in Hebei province (No.Z2011271) and
the science and technology research guidance project in
Baoding (No.13ZN022)
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2013 ACADEMY PUBLISHER

1087

Liai Gao received the Bachelor Degree

of Engineering in electric engineering
and the master degree respectively in
Agricultural mechanization engineering
from Agriculture University of Hebei,
Hebei, Baoding, in2003 and2006.
She is currently with electric
Department, the College of mechanical
and electrical engineering, Agriculture
University of Hebei. Her research
activity mainly focuses on wireless sensor networks, with
special interest on the use of wireless sensor networks for
intelligent detection and control technology. Now she is a Ph. D
Candidate and has published 5 papers in the core journals.
Meng Zhang received the Bachelor Degree of Engineering in
electric engineering in Agricultural mechanization engineering
from Agriculture University of Hebei, Baoding, in 2012. Now
she
is
a
graduate
student
in
College
of
Information and Electrical Engineering, China Agricultural
University, Beijing, China.
Geng Chen, he is a student in College of mechanical and
electrical engineering, Agricultural University of Hebei,
Baoding, China