摘要
针对山地履带拖拉机(简称山地拖拉机)等高线作业时,车身调平和农具仿形作业不同的姿态调整需求,在建立车身及农具运动学模型的基础之上,构建了整个系统的控制策略,设计了车身与农具姿态协同控制系统,其中,对车身和农具的控制分别采用PID算法和双闭环模糊PID算法。基于Simulink对控制算法进行了仿真分析,结果表明:采用PID算法实现车身调平可以满足其基本调平要求;采用双闭环模糊PID算法实现农具姿态调整的控制效果优于PID算法。最后,进行了机组姿态协同调整的静态试验和动态试验,结果表明,采用所设计的姿态协同控制系统:在坡度±15°的坡地上静态调整时,车身横向倾角最大误差为1.10°,农具横向倾角最大误差为0.46°;在坡度14°~16°的坡地上动态作业时,车身横向倾角最大误差为1.90°,农具横向倾角最大误差为0.93°。该姿态协同控制系统精度和稳定性能够满足丘陵山区坡地等高线作业需求。
Based on the mountain crawler tractor(referred to as mountain tractor)developed by our team,a collaborative control system for vehicle body and farm tool attitude was designed.In view of the different attitude adjustment requirements of body leveling and farm tools profiling during the contour operation of mountain tractors,the control strategy of the whole system was constructed on the basis of establishing the kinematics model of body and farm tools,and the collaborative control system was designed.Among them,PID algorithm and double closed-loop fuzzy PID algorithm were used for the control of body and farm tools,respectively.The control algorithm was simulated and analyzed based on Simulink.The results showed that the PID algorithm can meet the basic leveling requirements.The control effect of using double closed-loop fuzzy PID algorithm to realize the attitude adjustment of farm tools was better than that of PID algorithm.Finally,the static and dynamic tests of the coordinated adjustment of the unit attitude were carried out.The results showed that when the static adjustment was carried out on the slope of±15°,the maximum error of the body roll angle was 1.10°,and the maximum error of the farm tool roll angle was 0.46°.In the dynamic operation on the slope of 14°~16°,the maximum error of the roll angle of the body was 1.90°,and the maximum error of the roll angle of agricultural machinery was 0.93°.It can be seen that the accuracy and stability of the attitude cooperative control system can meet the requirements of slope contour operation in hilly and mountainous areas.
作者
杨福增
牛瀚麟
孙景彬
刘志杰
李轶林
褚宏丽
YANG Fuzeng;NIU Hanlin;SUN Jingbin;LIU Zhijie;LI Yilin;CHU Hongli(College of Mechanical and Electronic Engineering,Northwest A&F University,Yangling,Shaanxi 712100,China;Northern Agricultural Equipment Scientific Observation and Experimental Station,Ministry of Agriculture and Rural Affairs,Yangling,Shaanxi 712100,China;Apple Full Mechanized Scientific Research Base,Ministry of Agriculture and Rural Affairs,Yangling,Shaanxi 712100,China)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2022年第1期414-422,共9页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家重点研发计划项目(2016YFD0700503)
陕西省科技重大专项(2020zdzx03-04-01)。
关键词
山地拖拉机
农具
姿态
协同控制
模糊PID控制
mountain tractor
farm implements
attitude
collaborative control
fuzzy PID control
