Nozzle Fuzzy Controller of Agricultural Spraying Robot Aiming Toward Crop Rows

Abstract : A novel nozzle controller of spraying robot aiming toward crop-rows based on fuzzy control theory was studied in this paper to solve the shortcomings of existing nozzle control system, such as the long regulation time, the higher overshoot and so on. The new fuzzy controller mainly consists of fuzzification interface, defuzzification interface, rule-base and inference mechanism. Considering the actual application, the fuzzy controller was designed as a 2-inputs&1-output closed-loop system. The inputs are the distance from nozzle to crop row and its change rate, the output is the control signal to the execution unit. Based on the design project, we selected the FMC chip NLX230, the EMCU chip AT89S52 and the EEPROM chip AT93C57 to make the fuzzy controller. Experimental results show that the project is workable and efficient, it can solve the shortcomings of existing controller perfectly and the control efficiency can be improved greatly.
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Communication dans un congrès
Daoliang Li; Chunjiang Zhao. Third IFIP TC 12 International Conference on Computer and Computing Technologies in Agriculture III (CCTA), Oct 2009, Beijing, China. Springer, IFIP Advances in Information and Communication Technology, AICT-317, pp.198-206, 2010, Computer and Computing Technologies in Agriculture III. 〈10.1007/978-3-642-12220-0_30〉
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Jianqiang Ren. Nozzle Fuzzy Controller of Agricultural Spraying Robot Aiming Toward Crop Rows. Daoliang Li; Chunjiang Zhao. Third IFIP TC 12 International Conference on Computer and Computing Technologies in Agriculture III (CCTA), Oct 2009, Beijing, China. Springer, IFIP Advances in Information and Communication Technology, AICT-317, pp.198-206, 2010, Computer and Computing Technologies in Agriculture III. 〈10.1007/978-3-642-12220-0_30〉. 〈hal-01061732〉

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