摘要
针对现有丘陵山地拖拉机姿态调整精度和可靠性难以满足实际使用需求的问题,基于神经网络PID算法设计了丘陵山地拖拉机车身和机具姿态同步控制系统。根据车身和机具不同的姿态调整要求,设计了相应的控制系统,并对其进行动力学建模,进而采用了基于神经网络PID的同步控制算法。以常规的PID控制算法作为对照,进行了仿真分析,仿真结果表明,基于神经网络PID算法的同步控制系统有效,且控制性能优于PID控制算法。在固定坡度路面和随机坡度路面上进行了作业试验,结果表明,其于神经网络PID控制算法的精度和稳定性均优于PID控制算法:在固定坡度路面上,车身横向倾角最大误差为0.8640°,左右摆角绝对值差最大误差为0.9600°,机具横向倾角最大误差为0.6497°;在随机坡度路面上,车身横向倾角最大误差为2.8740°,左右摆角绝对值最大误差为4.2800°,机具横向倾角最大误差为1.7620°。说明本文提出的方法具有较好的控制精度和稳定性,能够满足丘陵山地拖拉机的实际使用需求。
Synchronous adjustment of the body and implement posture of hilly mountain tractors helps to improve the safety and efficiency of their operations.The current research on the attitude adjustment of hilly tractors is mainly focused on the body or implement attitude control.Its accuracy and reliability are difficult to meet the actual requirements.A synchronous control system for tractors in hilly and mountainous areas was designed based on the neural network PID algorithm.Specifically,according to the different attitude adjustment requirements of the body and implement,a corresponding attitude adjustment system was designed respectively and its dynamics was modeled.And then a synchronous control algorithm based on neural network PID was adopted.Comparisons with the conventional PID control algorithm was conducted,and simulation analysis was performed.The simulation results verified the effectiveness of the proposed neural network PID algorithm,and its control performance was better than that of the PID control algorithm.Finally,experimental verifications were carried out on fixed-slope and random pavement operations.The experimental results showed that the accuracy and stability of the proposed neural network PID control method were better than those of the PID control method.On a road with a fixed slope of about 14°,the maximum error of the vehicle lateral inclination angle was 0.8640°,the maximum error of the absolute value difference of the left and right swing mechanism was 0.9600°,and the maximum error of the machine lateral inclination angle was 0.6497°;the vehicle lateral inclination was the largest on a random slope road,the error was 2.8740°,the maximum error of the absolute value of the swing angle of the left and right swing mechanism was 4.2800°,and the maximum error of the machine lateral inclination angle was 1.7620°.It can be seen that the proposed method had good control accuracy and stability,and can meet the actual needs of hilly and mountain tractors.
作者
张锦辉
李彦明
齐文超
刘成良
杨福增
李政平
ZHANG Jinhui;LI Yanming;QI Wenchao;LIU Chengliang;YANG Fuzeng;LI Zhengping(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;College of Mechanical and Electronic Engineering,Northwest A&F University,Yangling,Shaanxi 712100,China;Shandong Wuzheng Group,Rizhao 276800,China)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2020年第12期356-366,共11页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家重点研发计划项目(2016YFD0700505)。
关键词
拖拉机
丘陵山地
姿态
同步调整
神经网络PID
tractor
hills and mountainous
attitude
synchronous adjustment
neural network PID
