摘要
针对拖拉机跨区作业时系统响应特性和耕深均匀性,以力位综合控制为基础,提出了一种变论域模糊PID控制方法。根据拖拉机耕作特性,阐述了系统工作原理,并对其控制策略进行了分析,设计出变论域模糊PID控制器。借助MatLab/Simulink仿真平台开展了系统响应特性试验,同时结合拖拉机适耕土壤情况,选取土壤比阻均值约为3、4、6N/cm^2的3块典型试验田进行了田间实车试验。结果表明:提出的控制方法响应迅速、灵敏度较高,能较好地满足悬挂系统快速升降的工况需求;同时,加权系数取值对拖拉机耕深均匀性及其调节区间均有较大影响,为加权系数的自调整和多参数联合自动控制的研究奠定了基础。
Aiming at the response characteristics of the system and the uniformity of tillage depth during the cross-regional operation of the tractor,a variable domain fuzzy PID control method is proposed based on force-position combined control. According to the farming characteristics of the tractor,the working principle and control strategy of the system was analyzed. And the variable domain fuzzy PID controller was designed. To test the system response characteristics the Matlab/Simulink was used. And combined with the tractor soil conditions,three typical experimental fields with soil specific resistance values of about 3 N/cm^2,4 N/cm^2 and 6 N/cm^2 were selected for field trials. The experiment results show that the proposed control method has rapid response and high sensitivity,which can better meet the requirements of the working conditions of the electro-hydraulic hitch system. And the weighting coefficient has a great influence on the adjustment range and uniformity of the tractor depth. Which can also lied the foundation for the self-adjustment of coefficient and the study of multi-parameter joint auto-control.
作者
马勇
李瑞川
李玉善
徐继康
赵鹏
刘延俊
Ma Yong;Li Ruichuan;Li Yushan;Xu Jikang;Zhao Peng;Liu Yanjun(1.College of Transportion,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;Shandong University,College of Mechanical Engineering;Shandong University,Institute of Oceanography,Ji’nan 250061,China)
出处
《农机化研究》
北大核心
2019年第12期156-160,共5页
Journal of Agricultural Mechanization Research
基金
国家重点研发计划项目(2016YFD0700504)
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(2017GNC12106)
山东省农机装备研发创新计划项目(2018YF046)
关键词
拖拉机
耕深
土壤比阻
变论域模糊PID控制
加权系数
tractor
tillage depth
soil specific resistance
variable domain fuzzy PID control
weighted coefficient
