| Summary: | 碩士 === 國立臺灣大學 === 生物產業機電工程學研究所 === 89 === This study is to develop an automatic control system for constant spraying rate and constant horizontal position of various boom-type sprayer speed to keep good spraying accuracy and to prevent hitting plants. An electro-hydraulic servo-drived system controlled by a personal computer and a spray-pipe-line system were developed for this purpose. A mathematic model was established, and then parameters of this model were identified by MATLAB off-line method accordingly. Basing on the identified parameters and using Zieger-Nichols process, a PID controller composed of a discrete model was designed. As the result, the system has accurate dynamic responses to both the transient and the steady states, tested by unit-step, square-wave and sine-wave and also has good position tracking and uniform spraying dosage.
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