摘要
目的:为提高玉米收获机的作业效率,降低其劳动强度,解决割台高度调节实时性和准确度差的问题,提出一种基于模糊PID算法的割台高度控制策略。方法:对割台留茬高度控制原理进行优化,将高效的PID算法和模糊控制相结合,运用模糊推理方法实现对割台高度调控参数的在线自整定。在simulink环境下对模糊PID控制和传统PID控制进行仿真对比分析,并对控制系统进行现场试验运行测试。结果:割台高度控制误差小于1.5 cm,系统响应速度约为0.22 m/s,割台调控时间较现有玉米收获机提升约10%。结论:该系统不仅实现了割台高度的实时调控和优化,而且相比传统的控制系统,具有更稳定的动态响应、鲁棒性和精确度,完全满足玉米收获机田间作业的设计要求。
Objective:To improve the working efficiency of corn harvester,reduce the labor intensity,and solve the problem of poor real-time and accuracy of header height adjustment,a header height control strategy based on fuzzy PID algorithm was proposed.Methods:This paper optimizes the control principle of the stubble header height,combines the efficient PID algorithm and fuzzy control,and uses the fuzzy reasoning method to realize the online self-tuning of the height control parameters of cutting platform.In the simulink environment,the fuzzy PID control and the traditional PID control are compared and analyzed,and the control system is tested in the field.Results:It is showed that the control error of header height is less than 1.5 cm,the system response speed is about 0.22 m/s,and the header control time is about 10%higher than the existing corn harvester.Conclusion:The system not only realizes the real-time control and optimization of header height,but also has more stable dynamic response,robustness and accuracy than the traditional control system,which fully meets the design requirements of corn harvester field operation.
作者
曹向虎
张春雨
梁海焘
张卫民
黄丹丹
CAO Xianghu;ZHANG Chunyu;LIANG Haitao;ZHANG Weimin;HUANG Dandan(College of Mechanical Engineering,Anhui Science and Technology University,Fengyang 233100,China)
出处
《安徽科技学院学报》
2021年第3期15-22,共8页
Journal of Anhui Science and Technology University
基金
安徽省高校协同创新项目(GXXT-2019-036,GXXT-2019-004)。
作者简介
曹向虎(1988-),男,安徽阜阳人,硕士研究生,主要从事智能农机装备研究;通信作者:张春雨,教授,E-mail:382182415@qq.com。
