Development of a variable-rate spraying system for small amounts of liquid rhizobial inoculation based on increment PID control

Authors

  • Jicheng Zhang 1. College of Electrical and Information, Northeast Agricultural University, Harbin 150030, China;
  • Yushuo Hou 1. College of Electrical and Information, Northeast Agricultural University, Harbin 150030, China;
  • Wenyi Ji 2. College of Engineering, Northeast Agricultural University, Harbin 150030, China;
  • Ping Zheng 1. College of Electrical and Information, Northeast Agricultural University, Harbin 150030, China;
  • Shouyin Hou 2. College of Engineering, Northeast Agricultural University, Harbin 150030, China;
  • Shichao Yan 1. College of Electrical and Information, Northeast Agricultural University, Harbin 150030, China;
  • Chenghao Kang 2. College of Engineering, Northeast Agricultural University, Harbin 150030, China;

Keywords:

precision agriculture, liquid rhizobial inoculation, spraying and control system, incremental PID control algorithm,

Abstract

To improve the efficiency and reduce the labor intensity of rhizobial inoculation, a variable-rate spraying and control system for variable rate application (VRA) was developed. This system uses an incremental Proportional Integral Derivative (PID) closed-loop control algorithm to accurately regulate the spraying rate according to the target application rate, making it particularly suitable for the precision spraying of small volumes. Laboratory tests on precise flow control showed the variation coefficient of the spraying nozzle did not exceed 1.2% within the pressure range of 0.10-0.20 MPa, and a clear linear relationship was observed between the spraying rate and pressure. For small-flow control, the maximum response time was 1.93 s, with an average of 1.62 s. Field trials at Heilongjiang Agricultural Xianghe Farm in China demonstrated that soybeans inoculated with rhizobia exhibited better average seed counts and 100-seed weights compared to a control group. When applied together with a full base fertilizer, the average yield with liquid rhizobial inoculant increased by 232.5 kg/hm2, representing a 6.9% improvement over the control. These results clearly indicate that this spraying and control system for liquid rhizobial inoculation offers superior performance and provides important technical support for promoting widespread adoption of rhizobial technology in agricultural practice.      

Keywords precision agriculture, liquid rhizobial inoculation, spraying and control system, variable rate application, incremental PID control algorithm

DOI: 10.25165/j.ijabe.20261903.9209

Citation: Zhang J C, Hou Y S, Ji W Y, Zheng P, Hou S Y, Yan S C, et al. Development of a variable-rate spraying system forsmall amounts of liquid rhizobial inoculation based on incremental PID control. Int J Agric & Biol Eng, 2026; 19(3): 235–242.

Author Biographies

Jicheng Zhang, 1. College of Electrical and Information, Northeast Agricultural University, Harbin 150030, China;

Senior engineer, research interest: Automatic control technology of agricultural equipment

Wenyi Ji, 2. College of Engineering, Northeast Agricultural University, Harbin 150030, China;

Senior engineer, research interest: agricultural mechanization engineering. College

Ping Zheng, 1. College of Electrical and Information, Northeast Agricultural University, Harbin 150030, China;

Associate Professor, research interest: Electrification and automation of agriculture

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Published

2026-07-14

How to Cite

(1)
Zhang, J.; Hou, Y.; Ji, W.; Zheng, P.; Hou, S.; Yan, S.; Kang, C. Development of a Variable-Rate Spraying System for Small Amounts of Liquid Rhizobial Inoculation Based on Increment PID Control. Int J Agric & Biol Eng 2026, 19, 235–242.

Issue

Vol. 19 No. 3 (2026): IJABE

Section

Information Technology, Sensors and Control Systems

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