拖拉机耕深模糊PID自动控制策略研究
|
摘要
为获得良好的拖拉机耕深均匀性、提高电液悬挂系统的控制精度,提出了一种耕深模糊PID自动控制策略。首先,介绍了系统的工作原理,并将加权系数应用于拖拉机力位综合控制的分析中,建立了系统各元件的数学模型;然后,根据系统的工作特性及耕深要求,设计了模糊PID控制器;最后,在Simulink中引入有限状态机模块,建立了电液悬挂系统力位综合控制的仿真模型。在相同阻力条件下,分别验证了加权系数取0、0.25、0.5、0.75、1时,控制器的响应效果并与PID控制器进行对比。仿真结果表明:提出的控制策略能更快、更精确地达到耕深设定值,满足了耕深均匀性的要求,为拖拉机电液悬挂系统多参数综合控制的设计提供了参考。
In order to get a better tillage depth uniformity of the tractor and improve the control precision of the electro-hydraulic hitch system,a fuzzy PID auto-control strategy for tractor plow depth is proposed. Firstly,the working principle of the system is introduced and the weighting coefficient is introduced into the modeling analysis of the force-position combined control. And the mathematical model of every part is established. Secondly,according to the working characteristics and tillage depth requirements of the system,a fuzzy PID controller is designed. Finally,the simulation model of electro-hydraulic hitch system is established,and the automatic closed-loop control is implemented. At the same time,under the same force condition,when the weighting coefficients were 0,0. 25,0. 5,0. 75 and 1,respectively,the response to the controller characteristics is verified and compared with the PID controller. The simulation results show that the proposed control strategy can meet the requirements of tillage depth uniformity and provide reference for the design of multiple parameter integrated control of tractor electro-hydraulic hitch system.
In order to get a better tillage depth uniformity of the tractor and improve the control precision of the electro-hydraulic hitch system,a fuzzy PID auto-control strategy for tractor plow depth is proposed. Firstly,the working principle of the system is introduced and the weighting coefficient is introduced into the modeling analysis of the force-position combined control. And the mathematical model of every part is established. Secondly,according to the working characteristics and tillage depth requirements of the system,a fuzzy PID controller is designed. Finally,the simulation model of electro-hydraulic hitch system is established,and the automatic closed-loop control is implemented. At the same time,under the same force condition,when the weighting coefficients were 0,0. 25,0. 5,0. 75 and 1,respectively,the response to the controller characteristics is verified and compared with the PID controller. The simulation results show that the proposed control strategy can meet the requirements of tillage depth uniformity and provide reference for the design of multiple parameter integrated control of tractor electro-hydraulic hitch system.
引文
[1]Kovacˇev Igor,Ko2utic'Silvio,Jej cˇicˇViktor,et al.Impact of Electronic-Hydraulic Hitch Control on Rational Exploitation of Tractor in Ploughing[J].Strojarstvo,2008,50(5):287-294.
[2]李明生,赵建军,朱忠祥,等.拖拉机电液悬挂系统模糊PID自适应控制方法[J].农业机械学报,2013(S2):295-300.
[3]王沁敏.拖拉机电子液压悬挂控制器设计与控制技术研究[D].南京:南京农业大学,2008.
[4]白学峰,鲁植雄,常江雪,等.基于滑转率的拖拉机自动耕深模糊控制仿真[J].农业机械学报,2012(S1):6-10.
[5]杜巧连,熊熙程,魏建华.拖拉机液压悬挂耕深电液控制系统设计与试验[J].农业机械学报,2008(8):62-65.
[6]齐学先,贾鸿社,史金钟.拖拉机悬挂模糊控制的研究[J].拖拉机与农用运输车,2007(3):63-64.
[7]高翔,孙昌旺,史金钟,等.拖拉机电控液压悬挂系统的耕深模糊控制策略[J].拖拉机与农用运输车,2008(4):12-14.
[8]宋玲,谢志勇.耕深均匀性的拖拉机电控液压悬挂系统[J].农机化研究,2017,39(8):237-241.
[9]商高高,彭怀江,夏勇.拖拉机耕深模糊自动控制方法及其仿真研究[J].农业现代化研究,2014(6):825-829.
[10]徐煌.拖拉机电液悬挂系统力位综合控制技术的研究[D].南京:南京农业大学,2010.
[11]席鑫鑫,鲁植雄,李和,等.力位综合度系数的仿真及分析—基于BP神经网络[J].农机化研究,2012,34(4):62-64,68.
[12]鲁植雄,郭兵,高强.拖拉机耕深模糊自动控制方法与试验研究[J].农业工程学报,2013(23):23-29.
[13]蔡鲁锋.基于电控液压系统的拖拉机悬挂装置耕深自动控制研究[D].长春:吉林大学,2016.
[14]沈则方.拖拉机电控液压悬挂系统的建模与仿真分析[D].镇江:江苏大学,2010.
[15]李金辉.拖拉机电液提升系统设计研究[D].杭州:浙江工业大学,2010.
[16]谢斌,毛恩荣,谭彧.基于CAN总线的拖拉机电液悬挂系统控制器研制[J].机床与液压,2006(8):185-187.
[17]王述彦,师宇,冯忠绪.基于模糊PID控制器的控制方法研究[J].机械科学与技术,2011(1):166-172.
[18]何东健,刘忠超,范灵燕.基于MATLAB的PID控制器参数整定及仿真[J].西安科技大学学报,2006(4):511-514,523.
[19]黄峰,汪岳峰,顾军,等.模糊参数自整定PID控制器的设计与仿真研究[J].光学精密工程,2004(2):235-239.
[20]王鸣.基于模糊控制理论的一种PID参数自整定控制器的设计与仿真[J].自动化与仪器仪表,2000(1):16-19.
[21]张泾周,杨伟静,张安祥.模糊自适应PID控制的研究及应用仿真[J].计算机仿真,2009(9):132-135,163.
[2]李明生,赵建军,朱忠祥,等.拖拉机电液悬挂系统模糊PID自适应控制方法[J].农业机械学报,2013(S2):295-300.
[3]王沁敏.拖拉机电子液压悬挂控制器设计与控制技术研究[D].南京:南京农业大学,2008.
[4]白学峰,鲁植雄,常江雪,等.基于滑转率的拖拉机自动耕深模糊控制仿真[J].农业机械学报,2012(S1):6-10.
[5]杜巧连,熊熙程,魏建华.拖拉机液压悬挂耕深电液控制系统设计与试验[J].农业机械学报,2008(8):62-65.
[6]齐学先,贾鸿社,史金钟.拖拉机悬挂模糊控制的研究[J].拖拉机与农用运输车,2007(3):63-64.
[7]高翔,孙昌旺,史金钟,等.拖拉机电控液压悬挂系统的耕深模糊控制策略[J].拖拉机与农用运输车,2008(4):12-14.
[8]宋玲,谢志勇.耕深均匀性的拖拉机电控液压悬挂系统[J].农机化研究,2017,39(8):237-241.
[9]商高高,彭怀江,夏勇.拖拉机耕深模糊自动控制方法及其仿真研究[J].农业现代化研究,2014(6):825-829.
[10]徐煌.拖拉机电液悬挂系统力位综合控制技术的研究[D].南京:南京农业大学,2010.
[11]席鑫鑫,鲁植雄,李和,等.力位综合度系数的仿真及分析—基于BP神经网络[J].农机化研究,2012,34(4):62-64,68.
[12]鲁植雄,郭兵,高强.拖拉机耕深模糊自动控制方法与试验研究[J].农业工程学报,2013(23):23-29.
[13]蔡鲁锋.基于电控液压系统的拖拉机悬挂装置耕深自动控制研究[D].长春:吉林大学,2016.
[14]沈则方.拖拉机电控液压悬挂系统的建模与仿真分析[D].镇江:江苏大学,2010.
[15]李金辉.拖拉机电液提升系统设计研究[D].杭州:浙江工业大学,2010.
[16]谢斌,毛恩荣,谭彧.基于CAN总线的拖拉机电液悬挂系统控制器研制[J].机床与液压,2006(8):185-187.
[17]王述彦,师宇,冯忠绪.基于模糊PID控制器的控制方法研究[J].机械科学与技术,2011(1):166-172.
[18]何东健,刘忠超,范灵燕.基于MATLAB的PID控制器参数整定及仿真[J].西安科技大学学报,2006(4):511-514,523.
[19]黄峰,汪岳峰,顾军,等.模糊参数自整定PID控制器的设计与仿真研究[J].光学精密工程,2004(2):235-239.
[20]王鸣.基于模糊控制理论的一种PID参数自整定控制器的设计与仿真[J].自动化与仪器仪表,2000(1):16-19.
[21]张泾周,杨伟静,张安祥.模糊自适应PID控制的研究及应用仿真[J].计算机仿真,2009(9):132-135,163.