摘要
水田整平机主要依靠整平机构对水田进行平整,其整平机构幅度宽,为保证整平机构刚度,因此需使用两个液压缸进行同步控制。为保证同步控制响应速度、精度、鲁棒性,该文采用主从结构控制与模糊PID自适应控制。在AMESim中搭建比例阀、非对称液压缸等模型,设置AMESim与MATLAB的连接接口,进行联合仿真。仿真结果表明,两缸同步位移误差最大为1.5 cm,当出现负载突变时,系统可在1 s内恢复平稳,且最大误差为0.75 cm,模糊PID自适应控制在两缸所受负载不同、且负载存在突变时具有良好的鲁棒性与稳定性。
The paddy field leveling machine mainly relies on a leveling mechanism to level the paddy field.Its leveling mechanism has a wide range.In order to ensure the rigidity of the leveling mechanism,two hydraulic cylinders are used for synchronous control.In order to ensure the response speed,accuracy and robustness of synchronous control,this paper adopts master-slave structure control and fuzzy PID adaptive control.Build models of proportional valves and asymmetric hydraulic cylinders in AMESim,set up the connection interface between AMESim and MATLAB,and perform joint simulation.The simulation results show that the maximum synchronous displacement error of the two cylinders is 1.5 cm.When there is a sudden load change,the system recovers smoothly within 1 s,and the maximum error is 0.75 cm.Fuzzy PID adaptive control has different loads on the two cylinders and sudden load changes.When it has good robustness and stability.
作者
周山旭
罗艳蕾
杜黎
ZHOU Shan-xu;LUO Yan-lei;DU Li(School of Mechanical Engineering,Guizhou University,Guiyang 550025,China)
出处
《液压气动与密封》
2021年第11期29-32,共4页
Hydraulics Pneumatics & Seals
基金
国家自然科学基金项目(51965011)
贵州省教育厅创新群体重大研究项目(黔教合KY字[2017]029)
贵州省科技计划项目(黔科合平台人才[2018]5781-23)。
关键词
整平机
同步控制
模糊PID
联合仿真
leveling machine
synchronous control
fuzzy PID
co-simulation
