玉米定向种子带恒张力卷绕系统自适应模糊PID控制
|
摘要
在玉米定向种子带的卷绕过程中,种子带的张力控制影响到种子带的质量。为此依据玉米定向种子带的要求,建立恒张力卷绕系统的传递函数,利用模糊控制技术实现玉米种子带的恒张力卷绕控制,创建了模糊自适应PID控制器,利用Matlab对其进行仿真,得到了较为合理的模糊控制算法,并将模糊控制算法通过西门子S7-200型PLC为核心的硬件控制电路应用于实际的张力控制,并进行了实际的卷绕试验。试验结果表明:模糊PID控制器与传统PID控制器相比,具有更好的动态稳定性和跟踪性能,张力产生阶跃时,系统过渡时间约为2 s,超调量在1.2%内,能够较好地满足种子带的卷绕要求。
In the processing and winding process of corn directional belt making, tension control determines the quality of corn directional belt. A corn seed directional belt making machine was developed and transfer functions of constant tension winding system were set up. The fuzzy-PID selfadaptive control technology was used to achieve constant tension winding in corn directional belt making and a fuzzy-PID self-adaptive controller was created. Finally,the software Matlab was used to simulate.As a result,reasonable fuzzy-PID self-adaptive control algorithm was obtained,and fuzzy-PID selfadaptive control algorithm was used in the actual tension control by using Siemens S7-200 PLC core hardware control circuit,as well as the winding experiment was carried out. Test results showed that the fuzzy-PID self-adaptive had better dynamic stability and tracking performance compared to the conventional PID controller and the controller could meet the requirements of corn directional belt winding.When the tension generated step,system transition time was about 2 s and overshoot was in 1. 2%.
In the processing and winding process of corn directional belt making, tension control determines the quality of corn directional belt. A corn seed directional belt making machine was developed and transfer functions of constant tension winding system were set up. The fuzzy-PID selfadaptive control technology was used to achieve constant tension winding in corn directional belt making and a fuzzy-PID self-adaptive controller was created. Finally,the software Matlab was used to simulate.As a result,reasonable fuzzy-PID self-adaptive control algorithm was obtained,and fuzzy-PID selfadaptive control algorithm was used in the actual tension control by using Siemens S7-200 PLC core hardware control circuit,as well as the winding experiment was carried out. Test results showed that the fuzzy-PID self-adaptive had better dynamic stability and tracking performance compared to the conventional PID controller and the controller could meet the requirements of corn directional belt winding.When the tension generated step,system transition time was about 2 s and overshoot was in 1. 2%.
引文
1 杨艳丽,辜松,潘汝琼,等.大粒种子调向精量播种机构的设计[J].农机化研究,2009(12):68-70.Yang Yanli,Gu Song,Pan Ruqiong,et al.Design of the directional precision seeding mechanism for big seeds[J].Agricultural Mechanization Research,2009(12):68-70.(in Chinese)
2 俞亚新,赵匀,张斌,等.基于稻种胚胎定向排列的排种器及参数优化[J].江苏大学学报:自然科学版,2008,29(3):194-197.Yu Yaxin,Zhao Yun,Zhang Bin,et al.Seed metering device based on orienting ordered arrangement in embryo and parameter optimization[J].Journal of Jiangsu University:Natural Science Edition,2008,29(3):194-197.(in Chinese)
3 俞亚新,林佳辉,赵匀,等.基于单轴对称特性的稻种定向排序仿真与试验[J].农业机械学报,2013,44(10):62-67,74.Yu Yaxin,Lin Jiahui,Zhao Yun,et al.Simulation and test on rice seed orientation based on single axisymmetric properties[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(10):62-67,74.(in Chinese)
4 赵学观,徐丽明,王应彪,等.基于Fluent与高速摄影的玉米种子定向吸附研究[J].农业机械学报,2014,45(10):103-109 ,28.Zhao Xueguan,Xu Liming,Wang Yingbiao,et al.Derectional adsorption characteristics of corn seed based on Fluent and highspeed photography[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(10):103-109,28.(in Chinese)
5 Guilherme T,Jacob V,William R,et al.Maize(zea mays)leaf angle and emergence as affected by seed orientation at planting[J].Experimental Agriculture,2011,47(4):579-592.
6 江光华,孙彦玲,赵建民,等.玉米精量播种机定向、定位排种器:中国,201110406380.5[P].2012-06-13.
7 刘闻铎.装有种子有序排列的玉米种子产品及其制造方法:中国,201110418991.1[P].2013-01-23.
8 李敬兆,汤文兵,顾荣荣.PLC实现的模糊PID控制器及其在通风机风量调节系统中的应用[J].江南大学学报:自然科学版,2006,5(4):422-426.Li Jingzhao,Tang Wenbing,Gu Rongrong.Fuzzy PID control based on PLC and application in the ventilator wind rate regulation system[J].Journal of Southern Yangtze University:Natural Science Edition,2006,5(4):422-426.(in Chinese)
9 Treesatayapun C.Fuzzy rules emulated network and application on nonlinear control systems[J].Applied Soft Computing,2008,8(2):996-1004.
10 Rubaai A,Castro-Sitiriche M J,Ofoli A R.Design and implementation of parallel fuzzy PID controller for high-performance brushless motor drives an intetrated invironment for rapid control prototyping[J].IEEE Transactions on Industry Application,2008,44(4):1090-1098.
11 罗智勇.恒压供水PLC模糊控制[J].工业仪表与自动化装置,2008(3):63-65.Luo Zhiyong.The PLC fuzzy control of a constant pressure water supply system[J].Industrial Instrumentation&Automation,2008(3):63-65.(in Chinese)
12 谢守勇,李锡文,杨叔子,等.基于PLC的模糊控制灌溉系统的研制[J].农业工程学报,2007,23(6):208-210.Xie Shouyong,Li Xiwen,Yang Shuzi,et al.Design and implementation of fuzzy-PID self-adaptive control for irrigating system with PLC[J].Transactions of the CSAE,2007,23(6):208-210.(in Chinese)
13 宋伯生.PLC编程理论:算法和技巧[M].北京:机械工业出版社,2005.
14 廖常初.S7-200 PLC应用技术[M].北京:机械工业出版社,2003.
15 崔厚梅,郭西进,刘克林.模糊自适应PID在转速控制中的应用[J].自动化技术与应用,2009,28(9):101-104.Cui Houmei,Guo Xijin,Liu Kelin.Fuzzy-adaptive PID control in the speed control system[J].Instrumentation and Measurment,2009,28(9):101-104.(in Chinese)
16陆华才,徐月同,杨伟民,等.永磁直线同步电机进给系统模糊PID控制[J].电工技术学报,2007,22(4):59-63.Lu Huacai,Xu Yuetong,Yang Weimin,et al.Fuzzy PID controller design for a permanent magnet linear synchronous motor feeding system[J].Transactions of China Electro Technical Society,2007,22(4):59-63.(in Chinese)
17 崔家瑞,李擎,张波,等.永磁同步电机变论域自适应模糊PID控制[J].中国电机工程学报,2013,33(增刊):190-194.Cui Jiarui,Li Qing,Zhang Bo,et al.Permanent magnet synchronous motor of variable universe adaptive fuzzy PID control[J].Chinese Journal of Electrical Engineering,2013,33(Supp.):190-194.(in Chinese)
18 沈瑜.基于模糊PID的恒张力控制系统设计[J].液压气动与密封,2009,29(2):48-51.Shen Yu.Design of constant tension control system based on fuzzy-PID[J].Hydraulics Pneumatics&Seals,2009,29(2):48-51.(in Chinese)
19 王劼斐,王坚.卷绕张力模糊控制[J].计算机与现代化,2008(5):66-69.Wang Jiefei,Wang Jian.Fuzzy-PID self-adaptive control on constant winding tension of sizing machine[J].Computer and Modernization,2008(5):66-69.(in Chinese)
20 曾光奇,胡均安,王东,等.模糊控制理论与工程应用[M].武汉:华中科技大学出版社,2006.
21 刘志壮,洪添胜,李震,等.基于模糊控制的流量控制阀仿真[J].农业工程学报,2009,25(2):83-86.Liu Zhizhuang,Hong Tiansheng,Li Zhen,et al.Simulation of flow control valve based on fuzzy-PID self-adaptive control[J].Transactions of the CSAE,2009,25(2):83-86.(in Chinese)
22 宋乐鹏,董志明,向李娟,等.变量喷雾流量阀的变论域自适应模糊PID控制[J].农业工程学报,2010,26(11):114-118.Song Lepeng,Dong Zhiming,Xiang Lijuan,et al.Variable universe adaptive fuzzy PID control of spray flow valve[J].Transactions of the CSAE,2010,26(11):114-118.(in Chinese)
23 宋淑然,阮耀灿,洪添胜,等.果园管道喷雾系统药液压力的自整定模糊PID控制[J].农业工程学报,2011,27(6):157-161 .Song Shuran,Ruan Yaocan,Hong Tiansheng,et al.Self-adjustable fuzzy PID control for solution pressure of pipeline spray system in orchard[J].Transactions of the CSAE,2011,27(6):157-161.(in Chinese)
24 郭娜,胡静涛.插秧机行驶速度变论域自适应模糊PID控制[J].农业机械学报,2013,44(12):245-251.Guo Na,Hu Jingtao.Variable universe adaptive fuzzy-PID control of traveling speed for rice transplanter[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(12):245-251.(in Chinese)
2 俞亚新,赵匀,张斌,等.基于稻种胚胎定向排列的排种器及参数优化[J].江苏大学学报:自然科学版,2008,29(3):194-197.Yu Yaxin,Zhao Yun,Zhang Bin,et al.Seed metering device based on orienting ordered arrangement in embryo and parameter optimization[J].Journal of Jiangsu University:Natural Science Edition,2008,29(3):194-197.(in Chinese)
3 俞亚新,林佳辉,赵匀,等.基于单轴对称特性的稻种定向排序仿真与试验[J].农业机械学报,2013,44(10):62-67,74.Yu Yaxin,Lin Jiahui,Zhao Yun,et al.Simulation and test on rice seed orientation based on single axisymmetric properties[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(10):62-67,74.(in Chinese)
4 赵学观,徐丽明,王应彪,等.基于Fluent与高速摄影的玉米种子定向吸附研究[J].农业机械学报,2014,45(10):103-109 ,28.Zhao Xueguan,Xu Liming,Wang Yingbiao,et al.Derectional adsorption characteristics of corn seed based on Fluent and highspeed photography[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(10):103-109,28.(in Chinese)
5 Guilherme T,Jacob V,William R,et al.Maize(zea mays)leaf angle and emergence as affected by seed orientation at planting[J].Experimental Agriculture,2011,47(4):579-592.
6 江光华,孙彦玲,赵建民,等.玉米精量播种机定向、定位排种器:中国,201110406380.5[P].2012-06-13.
7 刘闻铎.装有种子有序排列的玉米种子产品及其制造方法:中国,201110418991.1[P].2013-01-23.
8 李敬兆,汤文兵,顾荣荣.PLC实现的模糊PID控制器及其在通风机风量调节系统中的应用[J].江南大学学报:自然科学版,2006,5(4):422-426.Li Jingzhao,Tang Wenbing,Gu Rongrong.Fuzzy PID control based on PLC and application in the ventilator wind rate regulation system[J].Journal of Southern Yangtze University:Natural Science Edition,2006,5(4):422-426.(in Chinese)
9 Treesatayapun C.Fuzzy rules emulated network and application on nonlinear control systems[J].Applied Soft Computing,2008,8(2):996-1004.
10 Rubaai A,Castro-Sitiriche M J,Ofoli A R.Design and implementation of parallel fuzzy PID controller for high-performance brushless motor drives an intetrated invironment for rapid control prototyping[J].IEEE Transactions on Industry Application,2008,44(4):1090-1098.
11 罗智勇.恒压供水PLC模糊控制[J].工业仪表与自动化装置,2008(3):63-65.Luo Zhiyong.The PLC fuzzy control of a constant pressure water supply system[J].Industrial Instrumentation&Automation,2008(3):63-65.(in Chinese)
12 谢守勇,李锡文,杨叔子,等.基于PLC的模糊控制灌溉系统的研制[J].农业工程学报,2007,23(6):208-210.Xie Shouyong,Li Xiwen,Yang Shuzi,et al.Design and implementation of fuzzy-PID self-adaptive control for irrigating system with PLC[J].Transactions of the CSAE,2007,23(6):208-210.(in Chinese)
13 宋伯生.PLC编程理论:算法和技巧[M].北京:机械工业出版社,2005.
14 廖常初.S7-200 PLC应用技术[M].北京:机械工业出版社,2003.
15 崔厚梅,郭西进,刘克林.模糊自适应PID在转速控制中的应用[J].自动化技术与应用,2009,28(9):101-104.Cui Houmei,Guo Xijin,Liu Kelin.Fuzzy-adaptive PID control in the speed control system[J].Instrumentation and Measurment,2009,28(9):101-104.(in Chinese)
16陆华才,徐月同,杨伟民,等.永磁直线同步电机进给系统模糊PID控制[J].电工技术学报,2007,22(4):59-63.Lu Huacai,Xu Yuetong,Yang Weimin,et al.Fuzzy PID controller design for a permanent magnet linear synchronous motor feeding system[J].Transactions of China Electro Technical Society,2007,22(4):59-63.(in Chinese)
17 崔家瑞,李擎,张波,等.永磁同步电机变论域自适应模糊PID控制[J].中国电机工程学报,2013,33(增刊):190-194.Cui Jiarui,Li Qing,Zhang Bo,et al.Permanent magnet synchronous motor of variable universe adaptive fuzzy PID control[J].Chinese Journal of Electrical Engineering,2013,33(Supp.):190-194.(in Chinese)
18 沈瑜.基于模糊PID的恒张力控制系统设计[J].液压气动与密封,2009,29(2):48-51.Shen Yu.Design of constant tension control system based on fuzzy-PID[J].Hydraulics Pneumatics&Seals,2009,29(2):48-51.(in Chinese)
19 王劼斐,王坚.卷绕张力模糊控制[J].计算机与现代化,2008(5):66-69.Wang Jiefei,Wang Jian.Fuzzy-PID self-adaptive control on constant winding tension of sizing machine[J].Computer and Modernization,2008(5):66-69.(in Chinese)
20 曾光奇,胡均安,王东,等.模糊控制理论与工程应用[M].武汉:华中科技大学出版社,2006.
21 刘志壮,洪添胜,李震,等.基于模糊控制的流量控制阀仿真[J].农业工程学报,2009,25(2):83-86.Liu Zhizhuang,Hong Tiansheng,Li Zhen,et al.Simulation of flow control valve based on fuzzy-PID self-adaptive control[J].Transactions of the CSAE,2009,25(2):83-86.(in Chinese)
22 宋乐鹏,董志明,向李娟,等.变量喷雾流量阀的变论域自适应模糊PID控制[J].农业工程学报,2010,26(11):114-118.Song Lepeng,Dong Zhiming,Xiang Lijuan,et al.Variable universe adaptive fuzzy PID control of spray flow valve[J].Transactions of the CSAE,2010,26(11):114-118.(in Chinese)
23 宋淑然,阮耀灿,洪添胜,等.果园管道喷雾系统药液压力的自整定模糊PID控制[J].农业工程学报,2011,27(6):157-161 .Song Shuran,Ruan Yaocan,Hong Tiansheng,et al.Self-adjustable fuzzy PID control for solution pressure of pipeline spray system in orchard[J].Transactions of the CSAE,2011,27(6):157-161.(in Chinese)
24 郭娜,胡静涛.插秧机行驶速度变论域自适应模糊PID控制[J].农业机械学报,2013,44(12):245-251.Guo Na,Hu Jingtao.Variable universe adaptive fuzzy-PID control of traveling speed for rice transplanter[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(12):245-251.(in Chinese)