摘要
针对拖拉机犁耕作业工况,基于现有的电液悬挂闭环控制系统,提出了以位置调节为主线、滑转率自动开关控制为辅的联合控制方法。结合拖拉机田间犁耕作业环境,阐明了电液悬挂闭环控制系统的工作机理,设计出控制精度较高的模糊PID控制器。同时,开展了典型试验地块的田间犁耕试验,将试验数据导入MatLab软件中形成不同调节方式下的对比曲线,并分析工作过程中耕深、滑转率和牵引力的变化。试验结果表明:提出的联合控制方法能满足实际工作的农艺要求,在保证犁耕耕作质量的同时,亦使发动机负荷稳定性良好,对进一步的精细控制研究提供了参考。
Aiming at the working condition of tractor plowing operation,based on the existing closed-loop control system of electro-hydraulic suspension,a joint control method with position adjustment as the main line and slip rate automatic switch control as the supplement is proposed.Combined with the tractor field plowing operation environment,the working mechanism of the electro-hydraulic suspension closed-loop control system is clarified,and a fuzzy PID controller with high control precision is designed.At the same time,the field plowing test of typical test plots was carried out.The test data was imported into Matlab software to form the contrast curves under different adjustment modes,and the changes of tillage depth,slip rate and traction force during the working process were analyzed.The test results show that the joint control method proposed in this paper can meet the agronomic requirements of practical work.The control method can ensure the stability of the engine load while ensuring the quality of the ploughing cultivation,and provides a reference for further fine control research.
作者
杨俊茹
穆常苹
李瑞川
马勇
高阳
刘长誉
Yang Junru;Mu Changping;Li Ruichuan;Ma Yong;Gao Yang;Liu Changyu(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China;School of Communications,Shandong University of Science and Technology,Qingdao 266590,China;Shandong Haizhuo Research Institute of Electro Hydraulic Control Engineering Technology,Rizhao 276800,China;Rizhao Haizhuo Hydraulic Co.,Ltd,Rizhao 276800,China)
出处
《农机化研究》
北大核心
2020年第11期235-239,共5页
Journal of Agricultural Mechanization Research
基金
泰山产业领军人才工程项目(2016TSCYCX-21)
山东省重点研发计划项目(2017GNG12106,2018GNC02132)。
关键词
拖拉机犁耕
电液悬挂
耕作
模糊PID控制
tractor ploughing
electro-hydraulic suspension
tillage
fuzzy PID control
