Implementation of Closed-Loop Control on the NORAC Terrain Simulator

挪威萨斯卡通的诺拉克系统国际公司(http://www.norac.ca/；以下简称诺拉克)设计和 生产各种农用喷雾器的喷雾高度控制系统。这些控制系统确保 沿吊杆的喷雾器被放置并保持在土地/庄稼上方的预定高度 喷洒化学品。为了测试他们开发的喷雾高度控制系统的性能，Norac 目前正在制作室内地形模拟器的原型，以模拟/跟踪指定的地形剖面和土地 在室外田野中会遇到的地表/作物树冠。然而，模拟器的运动控制具有 由于系统动力学和模拟器的非线性，被证明是一项具有挑战性的任务。这个项目 讨论了一种迭代学习的比例积分导数(ILPID)控制器的实现，该控制器 在我们最初的Engage项目中被证明是有效的，在Norac模拟器上改进了跟踪 性能。该项目的成果将是Norac模拟器的自动化控制，这将是 集成到模拟器本身，用于测试农业喷雾器。这个项目的成功完成将 为Norac带来技术和经济效益，这将有助于提高Norac的竞争力 在全球市场上，还将通过加拿大农民为加拿大带来额外的好处 谁使用诺拉克的产品。

NORAC Systems International Inc. of Saskatoon, SK (http://www.norac.ca/; hereafter NORAC) designs and manufactures various spray-height control systems for agricultural sprayers. These control systems ensure the sprayers along a boom are positioned and maintained at a pre-set height above the land/crop during the spraying of chemicals. To test the performance of the spray-height control systems they develop, NORAC is currently prototyping an indoor terrain simulator to simulate/track prescribed terrain profiles and the land surface/crop canopy that would be encountered in outdoor fields. However, motion control of the simulator has proven to be a challenging task due to system dynamics and non-linearities of the simulator. This project concerns the implementation of an iterative learning proportional-integral-derivative (ILPID) controller, which was illustrated effective in our original Engage project, on the NORAC simulator for improved tracking performance. The outcomes of this project will be automation control of the NORAC simulator, which will be integrated into the simulator itself for testing agricultural sprayers. Successful completion of this project will reap technological and economic benefits for NORAC, which will serve to increase NORAC's competitiveness in the global marketplace and will also generate additional benefits to Canada though the Canadian farmers who use NORAC's products.