| 摘要: |
| 为提高温室悬挂喷施机效率,实现单台机器对温室全方位覆盖,设计基于PLC通信的温室悬挂喷施机跨垄作业控制系统。该系统采用SIEMENS PLC 之间的PPI通信及SIEMENS PLC与Delta变频器之间的MODBUS通信方式,结合多传感器位置融合技术,通过主从PLC通信编程,对动作流程进行决策,实现了温室悬挂喷施机全自动换轨。在温室环境下对换轨作业精度与单次换轨时间进行试验结果表明,换轨车行驶速度为0.15 m/s时,作业精度＜1 mm,单次换轨时间为185s。与人工换轨相比作业精度大幅提高,单次换轨时间明显缩短,满足工程应用需要。 |
| 关键词: 悬挂喷施机 跨垄作业 PLC通信 农药 |
| DOI：10.11841/j.issn.1007-4333.2013.06.025 |
| 投稿时间：2013-04-19 |
| 基金项目:国家"863"计划项目(SS2012AA041507) |
|
| Control system for automatic track transferringof greenhouse hanging sprayer |
|
ZHANG Er-peng, MA Zeng-hong, GENG Chang-xing, LI Wei
|
| (College of Engineering, China Agricultural University, Beijing 100083, China) |
| Abstract: |
| In order to improve the utilization of greenhouse hanging sprayer,and to make it possible for one sprayer to cover the whole area of the greenhouse,the control system for automatic transferring of greenhouse hanging sprayer was designed based on PLC communication.Using the SIEMENS PPI communicaiton between 2 SIEMENSE S7-200 PLCs,the system combined two controlers in different machines as one.The Modbus communication protocal between SIEMENS S7-200 PLC and Delta VFD-M motor controler made it possible for the real-time adjusting of the sprayer running speed,thus allowing the sprayer to run under a low and safe speed during the transferring period,and a relatively high running speed during the working period.The position sensors at different positions decided whether the sprayer was in the transferring period or the working period.Through proper programming of the control flow,the sprayer and the transfer cart cooperated effectively,the cart carried the sprayer to the next working position after work finished in one row,the system stopped working when all the rows were covered.Experiments have proved that the control system was of high stability.Compared with manual transferring,which costs about 30 m in general,the automatic transferring is remarkably time-saving.Under the running speed of 0.15 m/s,the transfer cart has a positioning precision lower than 1 mm,and the whole transferring process consumes only 185 s,which is about 10 times shorter than the manual transferring.Comprehensive consideration suggests the speed of 0.15 m/s as the most appropriate running speed for the transfer cart. |
| Key words: hanging sprayer automatic transferring PLC communication pesticides |
