摘要
针对联合收割机作业过程中田间路面起伏影响割台高度进而导致割台高度测量难和喂入量波动等问题,提出基于双惯性传感器的联合收割机割台高度实时获取方法和基于线性二次调节器(linear quadratic regulator,LQR)的割台高度控制方法。通过两个惯性传感器分别测量联合收割机车身和倾斜输送器倾角实时求得割台高度,基于运动学和割台结构分析建立割台系统数学模型,通过选择性能函数求解线性二次型最优控制问题,得到割台高度控制的最优解,并根据最优解控制液压缸调节割台高度,使割台高度稳定在预设范围内。仿真结果表明,传统PID控制器跟踪含有随机噪声的阶跃信号时误差均方根为0.226°,而LQR控制器跟踪含有随机噪声的阶跃信号时误差均方根为0.133°,因此LQR控制器的动态性能优于传统PID,可以提高割台高度的调控质量。
Aiming at the problems that the fluctuation of field road affects header height of a combine harvester,it further results in the difficulty of measuring the header height and the fluctuation of feed quantity during the operation of a combine harvester,a real-time method for measuring the header height based on double inertial sensors and a method for controlling the header’s height based on linear quadratic regulator(LQR)were proposed.The header height was obtained in real time by measuring the inclination angles of the combine body and the inclined conveyor with two inertial sensors.Mathematical model of the header system was established based on the kinematics and the structural analysis of the header.The optimal solution of the header height control was obtained by selecting the performance function to solve the linear quadratic optimal control problem.According to the obtained optimal solution,the hydraulic cylinder was controlled to adjust the header height,so that the header height was stable in the preset range.The simulation results showed that the root mean square error of traditional PID controller was 0.226°when tracking the step signal with random noise,while the root mean square error of the LQR controller was 0.133°when tracking the step signal with random noise.Therefore,the dynamic performance of the LQR controller is better than that of the traditional PID,confirming that the proposed method can improve the control quality of header height of a combine harvester.
作者
刘青山
李川
魏新华
卢泽民
王爱臣
Liu Qingshan;Li Chuan;Wei Xinhua;Lu Zemin;Wang Aichen(Key Laboratory of Ministry of Education of Modern Agricultural Equipment and Technology,Jiangsu University,Zhenjiang 212013,China)
出处
《电子测量与仪器学报》
CSCD
北大核心
2022年第4期65-72,共8页
Journal of Electronic Measurement and Instrumentation
基金
“十三五”国家重点研发计划(2019YFB131230201)
镇江市重点研发计划(NY2020006)
江苏省现代农机装备与技术示范推广项目(NJ2021-64,NJ2020-59)
江苏高校优势学科建设工程项目资助
关键词
联合收割机
割台高度
最优控制
线性二次型
combine harvester
header height
optimal control
linear quadratic
