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

Deniver Reinke Schutz; Vilma A. Oliveira; Heitor V. Mercaldi; Elmer A. G. Penaloza; Paulo E. Cruvinel

doi:10.20906/sbai.v1i1.2672

Deniver Reinke Schutz Departamento de Engenharia Elétrica e Computação, Escola de Engenharia de São Carlos, Universidade de São Paulo, SP & Embrapa Instrumentação
Vilma A. Oliveira Departamento de Engenharia Elétrica e Computação, Escola de Engenharia de São Carlos, Universidade de São Paulo, SP
Heitor V. Mercaldi Universidade Federal de São Carlos
Elmer A. G. Penaloza Universidade Federal de Pelotas
Paulo E. Cruvinel Embrapa Instrumentação

DOI: https://doi.org/10.20906/sbai.v1i1.2672

Keywords: GPC controller, Control saturation, Algorithms PGS and GPAD, Toeplitz and Hankel’s matrices

Abstract

In line with the need to increase productivity in agriculture, several researches have been developed to improve agricultural application techniques for pest control. This article presents a predictive controller embedded in the spray module of a direct injection spray. A generalized predictive controller (GPC) and the constraint algorithms were developed using of Toeplitz and Hankel matrix model, which facilitated the implementation process in an embedded manner. The main contributions are the use of a scaling factor to reduce the saturation region of the control signal, the adaptation of the accelerated dual gradient projection (GPAD for short) algoritm to use the matrix equations of Toeplitz and Hankel and a low cost hardware-in-the-loop implementation of GPC. 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 and GPAD algorithms and, encourage new research in agricultural pests control.