Improved Control Algorithm and Experiment for Banana Straw Crushing and Returning to Fields Based on Liquid Nitrogen Cryogenic Pretreatment

In response to the issues of insufficient shredding efficiency, severe straw entanglement with equipment, and prone blade damage in existing banana straw crushing and returning machines, this paper innovatively proposes a liquid nitrogen (LN 2 ) cryo-pretreatment combined with a mechanical incorporation method by, firstly, conducting shear, tensile, and cooling timeliness mechanical experiments on banana straw sheaths using LN 2 low-temperature pretreatment, and then designing a corresponding spray device. Subsequently, an improved BAO-Fuzzy-PID control algorithm is presented, which significantly enhances the control performance of the fuzzy PID controller, with the steady-state error, overshoot, rise time, and settling time being 0, 0, 0.31 s, and 0.25 s, respectively. Finally, field experiments are executed, and the flow control accuracy test results indicated a maximum error of 3.32%, meeting the test requirements. Using spray height and spray angle as experimental factors and banana straw crushing qualification rate as the experimental indicator, a two-factor and five-level banana straw crushing experiment is presented. The optimal spray parameters are determined to be a spray height of 250 mm and a spray angle of 90°. At this point, the banana straw crushing qualification rate is 96.98%, meeting the quality requirements for banana straw crushing and significantly reducing straw entanglement.