摘要
为了解决现有4UML-130型振动链式木薯收获机挖掘深度不稳定,从而造成木薯破损、漏收率大和能耗大的问题,设计了一套木薯挖掘深度自动控制系统。该系统包括仿形机构、挖掘深度检测机构、液压系统和控制系统,运用积分分离式模糊PID算法实时调节挖掘深度,有效实现了挖掘深度的精准控制。仿真与室内试验结果表明:在阶跃响应试验中,使用积分分离式模糊PID算法的控制系统超调量最小,并且达到稳定的时间最短;在正弦响应试验中,使用积分分离式模糊PID算法的控制系统的误差为±0.5 cm,明显优于其他方法。
A set of automatic excavation depth control system was designed by comprehensively using sensor technology,hydraulic control technology and PLC control technology to solve the problems of unstable excavation depth of the 4UML-130 vibrating chain cassava harvester,which results in large damage of cassava and high energy consumption.The system designed was made up of profiling mechanism,excavation depth detection mechanism,hydraulic system and control system.The integral separation fuzzy PID algorithm was used to adjust the excavation depth in real time,which effectively achieves the accurate control of excavation depth.The results of simulation and indoor test showed that the overshoot of the control system using integral separation fuzzy PID algorithm was the smallest and the time to reach stability was the shortest in the step response experiment.The error of the control system using integral separation fuzzy PID algorithm in the sinusoidal response experiment was±0.5 cm,significantly better than that of the other methods.
作者
熊成成
周德强
邓干然
李国杰
崔振德
何冯光
李玲
XIONG Chengcheng;ZHOU Deqiang;DENG Ganran;LI Guojie;CUI Zhende;HE Fengguang;LI Ling(College of Mechanical Engineering,Jiangnan University,Wuxi 214122,China;Institute of Agricultural Machinery,Chinese Academy of Tropical Agricultural Sciences,Zhanjiang 524088,China;Ministry of Agriculture and Rural Affairs Key Laboratory of Agricultural Equipment for Tropical Crop,Zhanjiang 524091,China;Tropical Crop Variety Resources Research Institute,Chinese Academy of Tropical Agricultural Sciences,Haikou 571101,China)
出处
《华中农业大学学报》
CAS
CSCD
北大核心
2022年第2期217-226,共10页
Journal of Huazhong Agricultural University
基金
海南省自然科学基金资助(519MS099)
国家重点研发计划资助(2020YFD1000600)
江苏省研究生科研与实践创新计划资助(KYCX20_1924)。
关键词
木薯
木薯收获机
挖掘深度
自动控制
模糊PID
仿形机构
积分分离
精准控制
cassava
cassava harvester
excavation depth
automatic control
fuzzy PID
profiling mechanism
integral separation
precise control
