日光温室卷帘机自动控制系统设计与实现

A Precision Control Method for Roller Shutters in a Solar Greenhouse Environment

关键词:  日光温室,卷帘机,传感器,自动控制,数据滤波

Key words:  solar  greenhouse, roller  shutter, sensor, precision  control, data  filtering

摘要:

【目的】日光温室是中国北方地区应用广泛的现代农业栽培设施，温室卷帘和卷膜位置的精确和自动控制是调节温室环境的核心问题。卷帘机是用于冬暖式日光温室的草帘或棉被自动卷放的农业机械设备，现有自动控制方法，多数存在安装不简便、操控不灵活的问题。【方法】本文设计了一种基于角度传感器的卷帘机自动控制系统，通过角度传感器准确测量出卷帘机立杆在运行过程中的角度，从而判定卷帘机的实时开启位置。在实际的角度传感器测量过程中，由于电机低速抖动、测量误差等因素，会产生很大的数据波动。通过使用2个同类型角度传感器，对测量数据进行加权平均数据融合处理，得到较为可靠的传感器数据。再采用卡尔曼滤波算法对融合后的传感器数据进行处理，得到一个较为精准的角度测量值。最后结合软件、硬件的系统集成，实现了对卷帘机行程的准确控制。【结果】设计的系统在青海省西宁市某农业园区进行了实验，通过对卷帘机完成一次上行和下行全过程中采集的全部12,000个数据点进行对比分析。实验结果证明本方法精确可靠且安装简便，不仅能控制卷帘机的开和关，还可以控制卷帘停在任意百分比的开启位置。【结论】实现卷帘机精准和自动控制开关，是调节日光温室内部环境的基础，能减少温室能源消耗和温室气体排放，促进温室操作创新技术的发展，有利于提高资源效率和更清洁的生产。

Abstract:

[Objective] The solar greenhouse is a widely used modern agricultural cultivation facility in northern China. Precise and automatic control of the curtain and film positions in the greenhouse is a key issue in regulating the internal environment. The curtain machine is an agricultural mechanical device used for the automatic rolling and unrolling of straw or cotton quilts in winter-style solar greenhouses. Most existing automatic control methods suffer from inconvenient installation and inflexible operation. [Method] This paper designs an automatic control system for the curtain machine based on angle sensors. The system accurately measures the angle of the curtain machine's vertical rod during operation using angle sensors to determine the real-time opening position. During actual angle measurement, due to factors such as motor jitter at low speeds and measurement errors, significant data fluctuations occur. To address this, two identical angle sensors are used, and their measurements are fused using a weighted average method to obtain more reliable sensor data. A Kalman filter algorithm is then applied to the fused data to obtain a more accurate angle measurement. Finally, with the integration of software and hardware systems, precise control of the curtain machine's travel is achieved. [Results] An experiment was conducted in an agricultural park in Xining City, Qinghai Province. By performing a comparative analysis of all 12,000 data points collected during a complete up and down operation of the roller shutter machine, the results demonstrated that this method is accurate, reliable, and easy to install. It not only allows for controlling the opening and closing of the roller shutter but also enables it to stop at any desired percentage of the open position. [Conclusion] Achieving precise and automatic control of curtain machines is fundamental to regulating the internal environment of solar greenhouses. It can reduce greenhouse energy consumption and greenhouse gas emissions, promote the development of innovative greenhouse operation technologies, and help improve resource efficiency and cleaner production.