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out the computation of optimal motion and changes a control criteria preliminary
programming a movement pattern and maintaining the power-saving engine behaviour.
Solar energy converters can be used as an auxiliary supply source or the alternative energy
one of the intelligent mobile system “ISSE” for the optical control of the soil quality. A soil
light-colour information pattern is taken into account in the process of dosing introduced
fertilizers and considered as a control parameter according to the model of the plants
inorganic nutrition:
F IF =F-F 0,
(1)
where F IF - cumulative dose of introduced fertilizers, F - plants nutrition level, F 0 - initial
fertility of soil.
Metering microdevices of the mechatronic module are intended for the fertilizer application
in soil or for the power feed of weed and pest killers with annular ultrasonic microactuators,
so that acoustic vibrations of ones put a diaphragm mechanism in motion for the control of
the metering microdevice-delivered material flow (Fig. 3) [1, 5].
Fig. 3. Metering microdevice of the free-flowing material and the nomogram for its
parameterization: 1 - electroacoustic element; 2 - diaphragm mechanism; 3 - flow of the
dosed material
The intelligent system fulfils, e.g., dosing of introduced mineral fertilizers depending on the
organics content in a field specified point by controlling impulse characteristics of a high-
frequency generator which supplies the ultrasonic microactuator. The volumetric capacity
P v of the metering device with the presented design is equal to:
P v = (S 0 - P 1 ·δ 0 /2,3) ·V 0 ,
(2)
where S 0 , δ 0 , V 0 - flow area, diameter of granules, flow velocity of dosed materials; P 1 - part
of the metering hole perimeter formed by fixed edges relative to the material flow. The form
of a hole produced by blades of the dosing unit is presented as an approximate circle, so P 1
can be written in this form:
P 1 =2·α·(π·S 0 ) -0,5 ,
(3)
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