Modeling and Predictive Control of a Variable-Rate Spraying System

Felizardo, Kleber Romero; Mercaldi, Heitor V.; Oliveira, Vilma A.; Cruvinel, P. E.

doi:10.1109/eurosim.2013.46

Cited by 10 publications

(2 citation statements)

References 7 publications

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“…Over time, spray rate controllers have been integrated into agricultural sprayers in order to effectively manage application rates in cases where the ground speed changes during field operations [22][23][24]. Some such control methods are now widely available for use in agricultural spraying control systems and related fields as follows: PID (Proportional Integral Derivative) control [25,26], fuzzy control [27][28][29], neural network control [30], and intelligent control systems [31,32].…”

Section: Introductionmentioning

confidence: 99%

Field Sprayer with Application Rate Control Using Fast Response Proportional Valves under Variable Speed Conditions

Karadol,

Aybek,

Ucgul

et al. 2024

Agriculture

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In modern agriculture, which is characterised by dynamic field environments, challenges are faced in maintaining consistent application rates due to varying tractor speeds, field conditions, and certain calibration errors. Conventional control systems, which rely on slower valves, have difficulty adapting to these dynamic field conditions. By contrast, the integration of fast-acting proportional valves improves the precision and flexibility of flow rate adjustment during spraying applications. This research focused on evaluating the accuracy of spraying applications under different tractor speed conditions through field experiments and data analysis. This study involves a field sprayer with boom wings divided into right and left sections, where the flow rate of the liquid to each section is controlled by proportional valves with a 3 s full opening and closing time, dependent on speed information. Using a closed-loop control system consisting of a flow meter, proportional valve, and PLC, the valves are controlled by the PLC’s internal PID blocks. Observations reveal that as the tractor speed increases to a certain level, the system effectively adjusts the application rate close to the target value and maintains control against the changing ground speed during all field tests. The study included five different application tests, with target application rates of 100, 150, 200, 250, and 300 L ha⁻1, with each repeated three times, resulting in a total of 15 field tests at different ground speeds. During these tests, the data were meticulously recorded every second, covering the tractor speed, flow rate, and pressure values for both right and left boom sections, along with regulator pressure, proportional valve opening rates, and application rates. The durations for each application rate were documented alongside instances within specified periods where error boundaries of ±10% were exceeded. During the total test duration of 9734 s, the actual application rate value exceeded error boundaries during only 209 s. Within the application durations, the speed variation intervals ranged from 5.10 to 10.23 km h−1, 4.64 to 9.91 km h−1, 3.68 to 7.89 km h−1, 4.80 to 8.21 km h−1, and from 4.90 to 8.69 km h−1. The absolute percentage mean application errors were recorded as 2.81%, 2.68%, 2.28%, 2.14%, and 2.51% for respective application rates. Furthermore, statistically significant correlations (p < 0.01) were identified among the variables (speed, valve opening rate, flow rate, pressure) in both the right and left boom sections across all application rates.

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Section: Introductionmentioning

confidence: 99%

Field Sprayer with Application Rate Control Using Fast Response Proportional Valves under Variable Speed Conditions

Karadol,

Aybek,

Ucgul

et al. 2024

Agriculture

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“…Nos últimos anos, trabalhos têm sido desenvolvidos voltados para a regulação da vazão da calda através do uso dos controladores preditivos. Em Felizardo et al (2013) é abordado o uso de controle preditivo baseado em modelo (MPC, do inglês model predictive control ) para regulação da vazão em um pulverizador de injeção direta, através do modelo espaço de estado. Mercaldi et al (2018) apresentam o desenvolvimento e implementação embarcada em microcontrolador de um controlador preditivo generalizado (GPC, do inglês generalized predictive control ) sujeito a restrições aplicado ao módulo de injeção de um pulverizador.…”

Section: Introdu ç ãOunclassified

Controlador preditivo para uso em pulverizadores agrícolas com simulador operando em hardware-in-the-loop

Schutz

Oliveira

Mercaldi

et al. 2021

Procedings Do XV Simpósio Brasileiro De Automação Inteligente

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In line with the need to increase the productivity in agriculture, several researches have been developed to improve agricultural application techniques for pest control. This paper presents a predictive controller embedded in a direct injection sprayer. A generalized predictive controller (GPC) with constraint algorithms were developed using a Toeplitz and Hankel matrix model which facilitates the implementation in an embedded manner. The main contributions are the modification of the GPAD algorithm (accelerated dual gradient projection) to include a scaling factor reducing the saturation region of the control signal, the use of the Toeplitz and matrix representation Hankel, as well as the use of low-cost hardware-in-the-loop. The results show the efficiency of the GPC applied to a spraying system and its effectiveness in obeying control constrainsts by means of the PGS (projected Gauss-Seidel) and GPAD algorithms and, encourage new research in agricultural pest control. Resumo: Alinhados à necessidade de aumentar a produtividade na agricultura, diversas pesquisas têm sido desenvolvidas para melhorar as técnicas de aplicação agrícola para o controle de pragas. Este artigo apresenta um controlador preditivo embarcado em um pulverizador de injeção direta. Foi utilizado um GPC (do inglês generalized predictive controller ) com um algoritmo de restrição desenvolvido a partir da sua representação matricial na forma Toeplitz e Hankel que facilita a sua implementação embarcada. Como contribuições, destacam-se a modificação do algoritmo GPAD (do inglês accelerated dual gradient projection) para a inclusão de um fator de escalonamento visando reduzir a região de saturação do sinal de controle, e a utilização da representação matricial Toeplitz e Hankel, assim como o uso de hardware-inthe-loop de baixo custo. Os resultados mostram a eficiência do GPC aplicado ao sistema de pulverização e a sua eficácia no atendimento das restrições por meio dos algoritmos PGS (do inglês projected Gauss-Seidel ) e GPAD e, incentivam novas pesquisas em automação no combate às pragas agrícolas.

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An Intelligent Fuzzy-GPC Control for Agricultural Sprayers: Comparison Between GPC and PID Fuzzy Controllers

et al. 2022

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Modeling and Predictive Control of a Variable-Rate Spraying System

Cited by 10 publications

References 7 publications

Field Sprayer with Application Rate Control Using Fast Response Proportional Valves under Variable Speed Conditions

Field Sprayer with Application Rate Control Using Fast Response Proportional Valves under Variable Speed Conditions

Controlador preditivo para uso em pulverizadores agrícolas com simulador operando em hardware-in-the-loop

An Intelligent Fuzzy-GPC Control for Agricultural Sprayers: Comparison Between GPC and PID Fuzzy Controllers

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