智能化农业装备学报（中英文）2026，Vol.7Issue(3)：61-72,12.DOI:10.12398/j.issn.2096-7217.2026.03.006
基于PSO—模糊PID的变量施肥控制系统设计与试验
Design and experiment of variable fertilization control system based on PSO-fuzzy PID
摘要
Abstract
To overcome the strong nonlinearity of fertilizer discharge and the limited adaptability of conventional control strategies in grooved-wheel granular fertilizer variable-rate application systems,this study proposes a variable-rate fertilization control method based on particle swarm optimization(PSO).Based on the structural characteristics of the grooved wheel fertilizer dispenser and the flow characteristics of solid granular fertilizer,a low-speed limit filling rate and a high-speed attenuation coefficient are introduced to construct a nonlinear"speed-flow"fertilizer discharge model considering filling rate attenuation and speed saturation effects.A closed-loop control framework of"detection-calculation-actuation-output"is designed,employing a dual-input,three-output fuzzy PID controller with speed error and its rate of change as inputs and PID parameter corrections as outputs to achieve online adaptive tuning of the PID parameters.A particle swarm optimization(PSO)algorithm with linearly decreasing inertia weights is introduced,using the weighted sum of the integral of the squared system error(ISE),settling time(ts),and overshoot(δ)as the fitness function to globally optimize the initial parameters of the fuzzy PID controller.The results show that the PSO-fuzzy PID control system has a response time of 0.25 s and an overshoot of 1.3%.Compared with traditional PID control(response time 0.100 s,overshoot 43.0%),it effectively suppresses severe system oscillations.Compared with ordinary fuzzy PID control(response time 0.850 s,overshoot 10.0%),the response speed is significantly improved,and the overall dynamic performance is optimal.Under variable operating conditions,the average relative error of fertilizer application by the PSO-fuzzy PID control strategy is 7.96%,and the maximum absolute error is less than 4.45 g.Compared with traditional PID(12.83%)and fuzzy PID(9.91%),its average relative error is reduced by 4.87%and 1.95%,respectively.Under field operating conditions,the average relative error of traditional PID is 16.70%,the average relative error of fuzzy PID is 12.68%,and the average relative error of PSO-fuzzy PID is 10.09%.The PSO-fuzzy PID control system has the best overall performance and stronger adaptability.The proposed control system features high precision and disturbance rejection,greatly boosting the accuracy and stability of granular variable-rate fertilization operations.关键词
固体颗粒肥/变量施肥/模糊PID控制/粒子群优化/非线性排肥模型Key words
solid particle fertilizer/variable rate application/fuzzy PID control/particle swarm optimization/nonlinear fertilizer discharge model分类
农业科技引用本文复制引用
杨利炜,李瑜心,王璟琪,陈浩,张雨涵,雷小龙..基于PSO—模糊PID的变量施肥控制系统设计与试验[J].智能化农业装备学报（中英文）,2026,7(3):61-72,12.基金项目
国家自然科学基金项目(31901413) （31901413）
成都市重点研发支撑计划项目(2025-YF09-00022-SN) （2025-YF09-00022-SN）
大学生创新训练计划项目(S202510626047) National Natural Science Foundation of China(31901413) （S202510626047）
Chengdu Key Research and Development Project(2025-YF09-00022-SN) （2025-YF09-00022-SN）
National Undergraduate Training Program for Innovation and Entrepreneurship(S202510626047) （S202510626047）
