CN108762348A - A kind of greenhouse automatic control system - Google Patents
A kind of greenhouse automatic control system Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
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Abstract
The invention belongs to field of agricultural production technologies, disclose a kind of greenhouse automatic control system, are provided with：Microprocessor, temperature sensor, humidity sensor, alarm module, relay, humidifier, air-conditioning, power module, GPRS communication modules.Temperature sensor, humidity sensor, alarm module, relay, power module, GPRS communication modules are electrically connected at microprocessor, and humidifier, air-conditioning are electrically connected at relay.The present invention acquires the indoor temperature of temperature and humidity information by temperature sensor and humidity sensor, humidifier and air-conditioning are controlled by microprocessor controls relay to adjust the indoor temperature and humidity of temperature, when humidity and temperature are less than setting value, it is alarmed by alarm module, mobile phone by GPRS communication modules to staff sends alarming short message, and staff is reminded to check greenhouse situation, high degree of automation in time, it is easy to operate, human resources are greatly saved.
Description
Technical Field
The invention belongs to the technical field of agricultural production, and particularly relates to an automatic greenhouse control system.
Background
At present, the number of the current day,
at present, the solar greenhouse regulation and control technology has been developed for decades. In the initial stage, an instrument is used for measuring parameters such as illumination, temperature and the like in a greenhouse facility, and then a manual or electric actuating mechanism (such as a curtain, a ventilation device and the like) is used for simply controlling the parameters, and along with the progress of the technology of a sensing element, the instrument and an actuator, the technology is gradually developed into the technology for respectively and automatically controlling almost all indoor environment parameters such as temperature, humidity, illumination and the like. Meanwhile, the development of computer technology makes comprehensive control of environmental parameters possible. However, the existing greenhouse automatic control system is immature, the automation degree is not high, the temperature and the humidity need to be checked manually, time and labor are wasted, and the production cost is greatly increased.
In summary, the problems of the prior art are as follows: the existing greenhouse automatic control system is immature, the automation degree is not high, the temperature and the humidity need to be checked manually, time and labor are wasted, the production cost is greatly increased, and the requirements of producers can not be met.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an automatic greenhouse control system.
The invention is realized in this way, a greenhouse automation control system is provided with:
microprocessor, temperature sensor, humidity transducer, alarm module, relay, humidifier, air conditioner, power module, GPRS communication module.
And the alarm module is used for alarming to remind a worker when the temperature and the humidity are lower than set values and is electrically connected with the microprocessor.
And the power supply module is used for providing electric support for the whole temperature control system and is electrically connected with the microprocessor.
And the GPRS communication module is used for sending temperature and humidity information to workers and reminding the workers in time, and is electrically connected with the microprocessor.
Temperature sensor, humidity transducer, alarm module, relay, power module, the equal electric connection of GPRS communication module in microprocessor, the equal electric connection of humidifier, air conditioner in the relay.
The time alignment process of the temperature sensor and the humidity sensor completes the time alignment of the sensor data, and the measurement data of the temperature sensor and the humidity sensor under the local rectangular coordinate system are YA(ti) And YB(ti) And the sampling frequency of the temperature sensor is greater than that of the humidity sensor, and the temperature sensor registers to the sampling time of the humidity sensor, specifically:
the method comprises the following steps of registering the sampling data of a temperature sensor to the data of a humidity sensor by adopting an interpolation and extrapolation time registration algorithm, so that two sensors have synchronous measurement data to the same target at the time of space registration, wherein the interpolation and extrapolation time registration algorithm comprises the following steps:
the method comprises the steps of performing incremental sequencing on observation data of each sensor according to measurement accuracy in the same time slice, then respectively interpolating and extrapolating the observation data of the temperature sensor to the time point of the humidity sensor to form a series of target observation data with equal intervals, and performing interpolation and extrapolation time registration algorithm by adopting a common three-point parabolic interpolation method to obtain the time registration algorithm of the temperature sensor at tBkMeasured value of moment under local rectangular coordinate systemComprises the following steps:
wherein, tBkTo register the time instants, tk-1,tk,tk+1Three sampling moments, Y, of the temperature sensor closest to the registration momentA(tk-1),YA(tk),YA(tk+1) Respectively corresponding detection data of the target;
after time registration is completed, according to registration data of the temperature sensor and sampling data of the humidity sensor, a pseudo-measurement method based on an Earth Center Earth Fixed (ECEF) coordinate system is adopted to realize estimation of system errors of the temperature sensor and the humidity sensor; the system error estimation algorithm based on the ECEF specifically comprises the following steps:
suppose that the real position of the target at moment k is X 'in the local rectangular coordinate system'1(k)＝[x'1(k),y'1(k),z'1(k)]TThe corresponding measured value under the polar coordinate system isRespectively as distance, azimuth angle and pitch angle; is converted into X under the local rectangular coordinate system1(k)＝[x1(k),y1(k),z1(k)]T(ii) a Sensor system deviation ofRespectively, systematic errors of a distance, an azimuth angle and a pitch angle; then there are
WhereinRepresenting the observation noise, with a mean of zero and a variance of
Equation (1) can be expanded with a first order approximation and written in matrix form:
X'1(k)＝X1(k)+C(k)[ξ(k)+n(k)]\*MERGEFORMAT (3)
wherein,
two temperature sensors and B are provided for the same common target (X 'in the geocentric/geostationary coordinate system)'e＝[x'e,y'e,z'e]T) Is obtained by
X'e＝XAs+BAX'A1(k)＝XBs+BBX'B1(k)\*MERGEFORMAT (4)
BA，BBRespectively are conversion matrixes when the position of the target under the local coordinates of the temperature sensor and the humidity sensor is converted to the position under an ECEF coordinate system;
the pseudo-metric is defined as:
Z(k)＝XAe(k)-XBe(k)\*MERGEFORMAT (5)
wherein, XAe(k)＝XAs+BAXA1(k)；XBe(k)＝XBs+BBXB1(k)
The pseudo measurement equation about the sensor deviation can be obtained by substituting the formula (2) and the formula (3) into the formula (4)
Z(k)＝H(k)β(k)+W(k)\*MERGEFORMAT (6)
Wherein,z (k) is a pseudo measurement vector, H (k) is a measurement matrix, β is a sensor offset vector, W (k) is a measurement noise vector, and n is a pseudo measurement vectorA(k),nB(k) Are zero-mean, independent gaussian random variables, and thus W (k) is also a zero-mean gaussian random variable with a covariance matrix of R (k).
Further, the GPRS communication module is connected to the remote monitoring mobile terminal in a wireless mode.
Furthermore, the microprocessor comprises a temperature control module and a humidity control module which correspond to the temperature sensor and the humidity sensor;
the temperature control module and the humidity control module adopt a PID parameter self-tuning algorithm based on self-optimization and adopt incremental PID, and the following improvements are added for realizing high-precision control:
firstly, in order to reduce high-frequency interference caused by sampling and differentiation, digital filtering is introduced into the algorithm, so that the adjustment precision is higher, the digital filtering has different methods, and the algorithm adopts first-order recursive filtering;
the first order recursive filtering method is a dynamic filtering method for realizing an RC low-pass filter in a digital form, and for an RC low-pass filter, the transfer function is as follows: l(s) ═ 1/(τ s +1) where τ = RC is the filter time constant, this equation is discretized to yield:
e′k＝αe′k-1+(1-α)ek(1)
where, alpha is tau/(tau + T), T is sampling period, ekIs the input of the filter at the k-th sampling; e'kIs the output of the filter at the k-th sampling; e'k－1Is the output of the filter at the k-1 th sampling; applying equation (1) to the deviation signal ekCorrected and then corrected deviation value e'kThe deviation signal at the kth sampling moment is substituted into the PID formula for calculation, so that the influence of high-frequency interference on the digital PID control formula is reduced;
secondly, in order to reduce overshoot caused by integral action and improve steady-state precision, the integral separation PID algorithm is adopted in the algorithm; in order to reduce oscillation caused by manual input and external impact interference, amplitude limiting processing is added in the algorithm, namely when | e | > epsilon, delta U is lambda, and lambda is the maximum allowable fluctuation value of you;
the control system sets a position control threshold value △ e, and the computer judges an error e obtained after data processing, which is as follows:
if epsilon is more than or equal to | e | > < delta e, the PD control is implemented, the dynamic characteristic of the control is improved,
when | e | < △, PID control is performed to ensure control accuracy, and when | e | > ∈, Δ U ═ λ (constant).
Further, the GPRS communication module comprises:
the receiving module is used for receiving data sent by a temperature sensor and a humidity sensor which are in cooperative communication with the microprocessor, and respectively transmitting information of the received data to the coding module;
the encoding module is used for receiving the information collected by the temperature sensor and the humidity sensor from the receiving module, carrying out network encoding on the information according to a preset encoding algorithm to obtain encoded information, and transmitting the encoded information to the modulation module;
the modulation module is used for receiving the coding information from the coding module, modulating the coding information and transmitting the data obtained after modulation to the sending module;
and the sending module is used for receiving the data obtained after modulation from the coding module and sending the data.
Further, the encoding module is specifically configured to:
the information of the temperature sensor and the humidity sensor and the collected information are used as the input of a preset formula to obtain coded information;
the preset formula comprises:t＝0,..,m-1,l＝0,...,L-1；
wherein N is the number of nodes in the cooperative communication set, j is 1j,i-tIs the information of the node j at the time t before the time i, m is a positive integer, and when t is 0, S isj,iFor the information of node j at time i,represents the coded information of said node n at the time i, l beingIs the first output bit, andl is a positive integer, αj,lIs composed ofthe coding coefficient of node j, alpha, at the ith output bit ofj,l0 or αj,l＝1，Representing a modulo-2 addition operation.
The invention collects the temperature and humidity information in the greenhouse through the temperature sensor and the humidity sensor, controls the relay through the microprocessor to further control the humidifier and the air conditioner to adjust the temperature and the humidity in the greenhouse, when the humidity and the temperature are lower than set values, alarms through the alarm module, and sends alarm short messages to the mobile phone of a worker through the GPRS communication module, the temperature control module and the humidity control module adopt a PID parameter self-setting algorithm based on self-optimization and adopt incremental PID to realize high-precision control of the temperature and the humidity, the GPRS module applies network coding to a cooperative communication system, network coding is carried out on the self data of an information source node and the cooperative companion data to be forwarded, the reliability in the communication process is improved, the worker can be reminded to check the greenhouse condition in time, the degree of automation is high, and the operation is simple and convenient, greatly saves human resources and improves production benefits.
Drawings
FIG. 1 is a schematic structural diagram of an automated greenhouse control system provided by an embodiment of the invention;
in the figure: 1. a microprocessor; 2. a temperature sensor; 3. a humidity sensor; 4. an alarm module; 5. a relay; 6. a humidifier; 7. an air conditioner; 8. a power supply module; 9. and a GPRS communication module.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
The structure of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, an automated greenhouse control system provided in an embodiment of the present invention includes: the intelligent temperature and humidity monitoring system comprises a microprocessor 1, a temperature sensor 2, a humidity sensor 3, an alarm module 4, a relay 5, a humidifier 6, an air conditioner 7, a power supply module 8 and a GPRS communication module 9.
And the alarm module 4 is used for alarming to remind a worker when the temperature and the humidity are lower than set values, and is electrically connected with the microprocessor.
And the power supply module 8 is used for providing electric support for the whole temperature control system and is electrically connected with the microprocessor.
And the GPRS communication module 9 is used for sending temperature and humidity information to workers and reminding the workers in time, and is electrically connected with the microprocessor.
Temperature sensor 2, humidity transducer 3, alarm module 4, relay 5, power module 8, the equal electric connection of GPRS communication module 9 in microprocessor 1, the equal electric connection of humidifier 6, air conditioner 7 in relay 5.
The time alignment process of the temperature sensor and the humidity sensor completes the time alignment of the sensor data, and the measurement data of the temperature sensor and the humidity sensor under the local rectangular coordinate system are YA(ti) And YB(ti) And the sampling frequency of the temperature sensor is greater than that of the humidity sensor, and the temperature sensor registers to the sampling time of the humidity sensor, specifically:
the method comprises the following steps of registering the sampling data of a temperature sensor to the data of a humidity sensor by adopting an interpolation and extrapolation time registration algorithm, so that two sensors have synchronous measurement data to the same target at the time of space registration, wherein the interpolation and extrapolation time registration algorithm comprises the following steps:
at the same time sliceThe method comprises the steps of performing incremental sequencing on observation data of each sensor according to measurement precision, then respectively interpolating and extrapolating the observation data of the temperature sensor to the time point of the humidity sensor to form a series of target observation data with equal intervals, and performing interpolation and extrapolation time registration algorithm by adopting a common three-point parabolic interpolation method to obtain the time registration algorithm of the temperature sensor at tBkMeasured value of moment under local rectangular coordinate systemComprises the following steps:
wherein, tBkTo register the time instants, tk-1,tk,tk+1Three sampling moments, Y, of the temperature sensor closest to the registration momentA(tk-1),YA(tk),YA(tk+1) Respectively corresponding detection data of the target;
after time registration is completed, according to registration data of the temperature sensor and sampling data of the humidity sensor, a pseudo-measurement method based on an Earth Center Earth Fixed (ECEF) coordinate system is adopted to realize estimation of system errors of the temperature sensor and the humidity sensor; the system error estimation algorithm based on the ECEF specifically comprises the following steps:
suppose that the real position of the target at moment k is X 'in the local rectangular coordinate system'1(k)＝[x'1(k),y'1(k),z'1(k)]TThe corresponding measured value under the polar coordinate system isRespectively as distance, azimuth angle and pitch angle; is converted into X under the local rectangular coordinate system1(k)＝[x1(k),y1(k),z1(k)]T(ii) a Sensor system deviation ofRespectively, systematic errors of a distance, an azimuth angle and a pitch angle; then there are
WhereinRepresenting the observation noise, with a mean of zero and a variance of
Equation (1) can be expanded with a first order approximation and written in matrix form:
X'1(k)＝X1(k)+C(k)[ξ(k)+n(k)]\*MERGEFORMAT (3)
wherein,
two temperature sensors and B are provided for the same common target (X 'in the geocentric/geostationary coordinate system)'e＝[x'e,y'e,z'e]T) Is obtained by
X'e＝XAs+BAX'A1(k)＝XBs+BBX'B1(k)\*MERGEFORMAT (4)
BA，BBRespectively are conversion matrixes when the position of the target under the local coordinates of the temperature sensor and the humidity sensor is converted to the position under an ECEF coordinate system;
the pseudo-metric is defined as:
Z(k)＝XAe(k)-XBe(k)\*MERGEFORMAT (5)
wherein, XAe(k)＝XAs+BAXA1(k)；XBe(k)＝XBs+BBXB1(k)
The pseudo measurement equation about the sensor deviation can be obtained by substituting the formula (2) and the formula (3) into the formula (4)
Z(k)＝H(k)β(k)+W(k)\*MERGEFORMAT (6)
Wherein,z (k) is a pseudo measurement vector, H (k) is a measurement matrix, β is a sensor offset vector, W (k) is a measurement noise vector, and n is a pseudo measurement vectorA(k),nB(k) Are zero-mean, independent gaussian random variables, and thus W (k) is also a zero-mean gaussian random variable with a covariance matrix of R (k).
The GPRS communication module is connected to the remote monitoring mobile terminal in a wireless mode.
Furthermore, the microprocessor comprises a temperature control module and a humidity control module which correspond to the temperature sensor and the humidity sensor;
the temperature control module and the humidity control module adopt a PID parameter self-tuning algorithm based on self-optimization and adopt incremental PID, and the following improvements are added for realizing high-precision control:
firstly, in order to reduce high-frequency interference caused by sampling and differentiation, digital filtering is introduced into the algorithm, so that the adjustment precision is higher, the digital filtering has different methods, and the algorithm adopts first-order recursive filtering;
the first order recursive filtering method is a dynamic filtering method for realizing an RC low-pass filter in a digital form, and for an RC low-pass filter, the transfer function is as follows: l(s) ═ 1/(τ s +1) where τ = RC is the filter time constant, this equation is discretized to yield:
e′k＝αe′k-1+(1-α)ek(1)
where, alpha is tau/(tau + T), T is sampling period, ekIs the input of the filter at the k-th sampling; e'kIs the output of the filter at the k-th sampling; e'k－1Is the output of the filter at the k-1 th sampling; applying equation (1) to the deviation signal ekCorrected and then corrected deviation value e'kThe deviation signal at the kth sampling moment is substituted into the PID formula for calculation, so that the influence of high-frequency interference on the digital PID control formula is reduced;
secondly, in order to reduce overshoot caused by integral action and improve steady-state precision, the integral separation PID algorithm is adopted in the algorithm; in order to reduce oscillation caused by manual input and external impact interference, amplitude limiting processing is added in the algorithm, namely when | e | > epsilon, delta U is lambda, and lambda is the maximum allowable fluctuation value of you;
the control system sets a position control threshold value △ e, and the computer judges an error e obtained after data processing, which is as follows:
if epsilon is more than or equal to | e | > < delta e, the PD control is implemented, the dynamic characteristic of the control is improved,
when | e | < △, PID control is performed to ensure control accuracy, and when | e | > ∈, Δ U ═ λ (constant).
The GPRS communication module comprises:
the receiving module is used for receiving data sent by a temperature sensor and a humidity sensor which are in cooperative communication with the microprocessor, and respectively transmitting information of the received data to the coding module;
the encoding module is used for receiving the information collected by the temperature sensor and the humidity sensor from the receiving module, carrying out network encoding on the information according to a preset encoding algorithm to obtain encoded information, and transmitting the encoded information to the modulation module;
the modulation module is used for receiving the coding information from the coding module, modulating the coding information and transmitting the data obtained after modulation to the sending module;
and the sending module is used for receiving the data obtained after modulation from the coding module and sending the data.
The encoding module is specifically configured to:
the information of the temperature sensor and the humidity sensor and the collected information are used as the input of a preset formula to obtain coded information;
the preset formula comprises:t＝0,..,m-1,l＝0,...,L-1；
wherein N is the number of nodes in the cooperative communication set, j is 1j,i-tIs the information of the node j at the time t before the time i, m is a positive integer, and when t is 0, S isj,iFor the information of node j at time i,represents the coded information of said node n at the time i, l beingIs the first output bit, andl is a positive integer, αj,lIs composed ofthe coding coefficient of node j, alpha, at the ith output bit ofj,l0 or αj,l＝1，Representing a modulo-2 addition operation.
The temperature and humidity information in the greenhouse is collected through the temperature sensor 2 and the humidity sensor 3, the microprocessor 1 controls the relay to further control the humidifier 6 and the air conditioner 7 to adjust the temperature and the humidity in the greenhouse, when the humidity and the temperature are lower than set values, the alarm module 4 gives an alarm, and the GPRS communication module 9 sends an alarm short message to a mobile phone of a worker to remind the worker to check the greenhouse condition in time.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (5)
1. An automated greenhouse control system, characterized in that the automated greenhouse control system is provided with:
the device comprises a microprocessor, a temperature sensor, a humidity sensor, an alarm module, a relay, a humidifier, an air conditioner, a power supply module and a GPRS communication module;
the alarm module is used for alarming to remind a worker when the temperature and the humidity are lower than set values and is electrically connected with the microprocessor;
the power supply module is used for providing electric support for the whole temperature control system and is electrically connected with the microprocessor;
the GPRS communication module is used for sending temperature and humidity information to workers, reminding the workers in time and electrically connected with the microprocessor;
the temperature sensor, the humidity sensor, the alarm module, the relay, the power supply module and the GPRS communication module are all electrically connected to the microprocessor, and the humidifier and the air conditioner are all electrically connected to the relay;
the time alignment process of the temperature sensor and the humidity sensor completes the time alignment of the sensor data, and the measurement data of the temperature sensor and the humidity sensor under the local rectangular coordinate system are YA(ti) And YB(ti) And the sampling frequency of the temperature sensor is greater than that of the humidity sensor, and the temperature sensor registers to the sampling time of the humidity sensor, specifically:
the method comprises the following steps of registering the sampling data of a temperature sensor to the data of a humidity sensor by adopting an interpolation and extrapolation time registration algorithm, so that two sensors have synchronous measurement data to the same target at the time of space registration, wherein the interpolation and extrapolation time registration algorithm comprises the following steps:
the method comprises the steps of performing incremental sequencing on observation data of each sensor according to measurement accuracy in the same time slice, then respectively interpolating and extrapolating the observation data of the temperature sensor to the time point of the humidity sensor to form a series of target observation data with equal intervals, and performing interpolation and extrapolation time registration algorithm by adopting a common three-point parabolic interpolation method to obtain the time registration algorithm of the temperature sensor at tBkMeasured value of moment under local rectangular coordinate systemComprises the following steps:
wherein, tBkTo register the time instants, tk-1,tk,tk+1Three sampling moments, Y, of the temperature sensor closest to the registration momentA(tk-1),YA(tk),YA(tk+1) Respectively corresponding detection data of the target;
after time registration is completed, according to registration data of the temperature sensor and sampling data of the humidity sensor, a pseudo-measurement method based on an Earth Center Earth Fixed (ECEF) coordinate system is adopted to realize estimation of system errors of the temperature sensor and the humidity sensor; the system error estimation algorithm based on the ECEF specifically comprises the following steps:
suppose that the real position of the target at moment k is X 'in the local rectangular coordinate system'1(k)＝[x'1(k),y'1(k),z'1(k)]TThe corresponding measured value under the polar coordinate system isRespectively as distance, azimuth angle and pitch angle; is converted into X under the local rectangular coordinate system1(k)＝[x1(k),y1(k),z1(k)]T(ii) a Sensor system deviation ofRespectively, systematic errors of a distance, an azimuth angle and a pitch angle; then there are
WhereinRepresenting the observation noise, with a mean of zero and a variance of
Equation (1) can be expanded with a first order approximation and written in matrix form:
X'1(k)＝X1(k)+C(k)[ξ(k)+n(k)]\*MERGEFORMAT(3)
wherein,
two temperature sensors and B are provided for the same common target (X 'in the geocentric/geostationary coordinate system)'e＝[x'e,y'e,z'e]T) Is obtained by
X'e＝XAs+BAX'A1(k)＝XBs+BBX'B1(k)\*MERGEFORMAT(4)
BA，BBRespectively are conversion matrixes when the position of the target under the local coordinates of the temperature sensor and the humidity sensor is converted to the position under an ECEF coordinate system;
the pseudo-metric is defined as:
Z(k)＝XAe(k)-XBe(k)\*MERGEFORMAT(5)
wherein, XAe(k)＝XAs+BAXA1(k)；XBe(k)＝XBs+BBXB1(k)
The pseudo measurement equation about the sensor deviation can be obtained by substituting the formula (2) and the formula (3) into the formula (4)
Z(k)＝H(k)β(k)+W(k)\*MERGEFORMAT(6)
Wherein,z (k) is a pseudo measurement vector, H (k) is a measurement matrix, β is a sensor offset vector, W (k) is a measurement noise vector, and n is a pseudo measurement vectorA(k),nB(k) Are zero-mean, independent gaussian random variables, and thus W (k) is also a zero-mean gaussian random variable with a covariance matrix of R (k).
2. The greenhouse automation control system of claim 1, wherein the GPRS communication module is wirelessly connected to a remote monitoring mobile terminal.
3. The automated greenhouse control system of claim 1, wherein the microprocessor comprises a temperature control module and a humidity control module corresponding to the temperature sensor and the humidity sensor;
the temperature control module and the humidity control module adopt a PID parameter self-tuning algorithm based on self-optimization and adopt incremental PID:
firstly, adopting first-order recursive filtering;
for an RC low pass filter, the transfer function is: l(s) ═ 1/(τ s +1) where τ = RC is the filter time constant, this equation is discretized to yield:
e′k＝αe′k-1+(1-α)ek(1)
where, alpha is tau/(tau + T), T is sampling period, ekIs the input of the filter at the k-th sampling; e'kIs the output of the filter at the k-th sampling; e'k－1Is the output of the filter at the k-1 th sampling; applying equation (1) to the deviation signal ekCorrected and then corrected deviation value e'kSubstituting the deviation signal as the deviation signal of the kth sampling moment into a PID (proportion integration differentiation) formula for calculation;
secondly, an integral separation PID algorithm is adopted; adding amplitude limiting processing, namely when | e | > epsilon, determining that delta U is lambda, wherein lambda is the maximum allowable fluctuation value of you;
the control system sets a position control threshold value △ e, and the computer judges an error e obtained after data processing, which is as follows:
if epsilon is more than or equal to | e | △ e, PD control is implemented, and the dynamic characteristic of control is improved;
when | e | < △, PID control is performed, and when | e | > ∈, Δ U ═ λ, a constant.
4. The greenhouse automation control system of claim 1, the GPRS communication module comprising:
the receiving module is used for receiving data sent by a temperature sensor and a humidity sensor which are in cooperative communication with the microprocessor, and respectively transmitting information of the received data to the coding module;
the encoding module is used for receiving the information collected by the temperature sensor and the humidity sensor from the receiving module, carrying out network encoding on the information according to a preset encoding algorithm to obtain encoded information, and transmitting the encoded information to the modulation module;
the modulation module is used for receiving the coding information from the coding module, modulating the coding information and transmitting the data obtained after modulation to the sending module;
and the sending module is used for receiving the data obtained after modulation from the coding module and sending the data.
5. Greenhouse automation control system according to claim 4, characterized in that the coding module in particular: the information of the temperature sensor and the humidity sensor and the collected information are used as the input of a preset formula to obtain coded information;
the preset formula comprises:t＝0,..,m-1,l＝0,...,L-1；
wherein N is the number of nodes in the cooperative communication set, j is 1j,i-tIs the information of the node j at the time t before the time i, m is a positive integer, and when t is 0, S isj,iFor the information of node j at time i,represents the coded information of said node n at the time i, l beingIs the first output bit, andl is a positive integer,αj,lis composed ofthe coding coefficient of node j, alpha, at the ith output bit ofj,l0 or αj,l＝1，Representing a modulo-2 addition operation.
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