Implementation of Closed-Loop Control on the NORAC Terrain Simulator

NORAC Systems International Inc.萨斯卡通，SK（http：//www.norac.ca/;以下简称NORAC）设计和 为农业喷雾器制造各种喷雾高度控制系统。这些控制系统确保 喷雾器沿着吊杆定位并保持在土地/作物上方的预设高度 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 目前正在制作一个室内地形模拟器的原型，以模拟/跟踪规定的地形剖面和土地 地表/作物冠层，这将在户外领域遇到。然而，模拟器的运动控制 被证明是一个具有挑战性的任务，由于系统动态和非线性的模拟器。这个项目 涉及一种迭代学习比例-积分-微分（ILPID）控制器的实现， 在我们最初的Engage项目中，在NORAC模拟器上进行了有效的说明，以改进跟踪 性能该项目的成果将是NORAC模拟器的自动化控制， 集成到模拟器本身用于测试农业喷雾器。该项目的成功完成将 为NORAC获得技术和经济利益，这将有助于提高NORAC的竞争力 在全球市场上，也将产生额外的利益，加拿大，虽然加拿大农民 使用NORAC产品的人

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.