Fuzzy PID Speed Control System for Sprayer Vehicles Based on Canopy Density

This study proposes an intelligent spraying vehicle speed control system integrating real-time canopy density detection with a fuzzy PID control algorithm. Utilizing LiDAR-acquired 3D point cloud data for canopy density calculation, the system dynamically adjusts PID parameters through fuzzy logic to achieve coordinated optimization of vehicle speed and spray volume. Based on the designed canopy density prediction model, a MATLAB/Simulink co-simulation framework integrating canopy perception with vehicle dynamics was established. Simulation results based on the MATLAB/Simulink platform demonstrate that the fuzzy PID controller achieves superior performance compared to conventional PID control. While maintaining a tracking accuracy of ±0.15 m/s, the proposed controller reduces speed overshoot by 5.8 percentage points. The developed control system ensures optimal speed tracking under varying canopy conditions, providing an extensible technical framework for intelligent sprayer vehicles.