Controlador preditivo para uso em pulverizadores agrícolas com simulador operando em hardware-in-the-loop.

SCHUTZ, D. R.; OLIVEIRA, V. A.; MERCALDI, H. V.; PENALOZA, E. A. G.; CRUVINEL, P. E.

Controlador preditivo para uso em pulverizadores agrícolas com simulador operando em hardware-in-the-loop.

Autores

Descripción

In line with the need to increase the productivity in agriculture, several researches have been developed to improve agricultural application techniques for pest control. This paper presents a predictive controller embedded in a direct injection sprayer. A generalized predictive controller (GPC) with constraint algorithms were developed using a Toeplitz and Hankel matrix model which facilitates the implementation in an embedded manner. The main contributions are the modification of the GPAD algorithm (accelerated dual gradient projection) to include a scaling factor reducing the saturation region of the control signal, the use of the Toeplitz and matrix representation Hankel, as well as the use of low-cost hardware-in-the-loop. The results show the efficiency of the GPC applied to a spraying system and its effectiveness in obeying control constrainsts by means of the PGS (projected Gauss-Seidel) and GPAD algorithms and, encourage new research in agricultural pest control.