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豬用智能粥料器控制系統(tǒng)研究
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國(guó)家自然科學(xué)基金項(xiàng)目(51175267)和安徽省高等學(xué)校省級(jí)自然科學(xué)重點(diǎn)基金項(xiàng)目(KJ2013Z193)


Control System of Smart Pig Porridge Feeder
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    摘要:

    設(shè)計(jì)了一種基于嵌入式微控制器的豬用智能粥料器控制系統(tǒng),該控制系統(tǒng)實(shí)現(xiàn)了粥料器在連續(xù)送料過(guò)程中干飼料和水分的質(zhì)量比例(水料比)按設(shè)定值進(jìn)行動(dòng)態(tài)調(diào)節(jié),,飼料日送料量能得到精確控制,。通過(guò)靜態(tài)測(cè)量方法獲取樣本數(shù)據(jù),建立飼料出料速度與送料電動(dòng)機(jī)轉(zhuǎn)速間的最小二乘支持向量回歸(LS-SVR)模型,。在粥料器連續(xù)送料過(guò)程中,,采用LS-SVR模型融合格羅布斯準(zhǔn)則及閾值判斷等數(shù)據(jù)處理方法對(duì)實(shí)時(shí)采樣數(shù)據(jù)的異常值進(jìn)行剔除,由最小二乘線性回歸預(yù)測(cè)出固定時(shí)間內(nèi)的干飼料出料量,,在進(jìn)水量可準(zhǔn)確測(cè)量的前提下,,實(shí)現(xiàn)水料比動(dòng)態(tài)調(diào)節(jié)。粥料器控制系統(tǒng)通過(guò)結(jié)合靜態(tài)測(cè)量及LS-SVR回歸模型的質(zhì)量遞推補(bǔ)償方法對(duì)粥料器每日的送料量進(jìn)行質(zhì)量補(bǔ)償,,實(shí)現(xiàn)了對(duì)粥料器日送料量的精確控制,。控制系統(tǒng)的水料比動(dòng)態(tài)調(diào)節(jié)誤差在4%以內(nèi),,質(zhì)量遞推補(bǔ)償方法可以保證平均單頭豬日進(jìn)食量誤差不超過(guò)1g,。

    Abstract:

    The control system of a smart pig porridge feeder was designed based on MCU whose kernel was the ARM CortexM3. The control system could well solve the problems of pig porridge feeder which include both the weight proportion between water and dry feeding, and the dry feeding weight delivered for every day. The ways of dynamical adjustment for the weight proportion of water and dry feed were shown as follows. Firstly, the least square support vector regression (LS-SVR) model between the delivered speed of the dry feeding and the motor’s rotary speed was founded. Then referred to the LS-SVR model, the abnormal realtime sampling weight value during continuous delivering feed was removed by using some data process methods, such as the threshold value judgment and the Grubbs criterion. At last, the value of feeding at certain times was predicted via the line regression model attained by least squares fitting the rest of sampling data. Because the water flow could be truly detected by a flow sensor, the weight proportion of water and dry feed was well adjusted. Using recursive weight compensation combined the LS-SVR model and static measurement means, the delivered dry feeding weight for one day was accurately controlled by the control system. After being mixed with stirred fully by the feeder using the control system, the water and the dry feed were turned to porridge whose nutrients should be better absorbed by pigs. The weight proportion of water and dry feed error was below 4%. The weight error of feeding for a pig per day was less than 1g.

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喬愛(ài)民,何博俠,王艷春.豬用智能粥料器控制系統(tǒng)研究[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2016,47(7):166-175. Qiao Aimin, He Boxia, Wang Yanchun. Control System of Smart Pig Porridge Feeder[J]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(7):166-175.

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  • 收稿日期:2015-11-24
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  • 在線發(fā)布日期: 2016-07-10
  • 出版日期: 2016-07-10
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