摘要
针对现有丘陵山地翻耕作业机具姿态调整系统在复杂作业工况下调整和控制精度不高,导致机具作业稳定性和作业安全性较差的问题,基于机具横向姿态调整系统,利用模糊PID控制算法设计出一套适用于丘陵山地翻耕作业的机具姿态调整系统。以常规PID控制算法为对照,在姿态调整系统动力学建模的基础上,通过MATLAB对其进行仿真分析,结果表明,常规PID控制算法的机具横向姿态调整时间为4.5 s,横向姿态角的超调量为0.89°;模糊PID控制算法的机具横向姿态调整时间为1.9 s,横向姿态角基本无超调。仿真试验结果验证了该机具姿态调整系统的可行性、正确性和科学性,调整系统精度和稳定性能满足丘陵山地横坡作业复杂的工况要求。
In response to the problem of low adjustment and control accuracy of the existing attitude adjustment system for tillage equipment in hilly and mountainous areas under complex operating conditions,which led to poor stability and safety of the equipment operation,based on the lateral attitude adjustment system of the equipment,a set of attitude adjustment system suitable for hilly and mountainous tillage operations was designed using the fuzzy PID control algorithm.Compared with the conventional PID control algorithm,based on the dynamic modeling of the attitude adjustment system,simulation analysis was conducted using MATLAB.The results showed that the lateral attitude adjustment time of the conventional PID control algorithm was 4.5 seconds,and the overshoot of the lateral attitude angle was 0.89°;the lateral attitude adjustment time of the implement using the fuzzy PID control algorithm was 1.9seconds,and there was basically no overshoot of the lateral attitude angle.The simulation test results had verified the feasibility,correctness,and scientificity of the attitude adjustment system of the equipment.The accuracy and stability performance of the adjustment system met the requirements of complex working conditions in hilly and mountainous cross slope operations.
作者
施正发
袁奎
余佳斌
胡勇
贺乘龙
张富贵
艾永峰
SHI Zheng-fa;YUAN Kui;YU Jia-bin;HU Yong;HE Cheng-long;ZHANG Fu-gui;AI Yong-feng(Guiyang Branch of Guizhou Tobacco Corporation,Guiyang 550004,China;College of Mechanical Engineering,Guizhou University,Guiyang 550025,China;Tongren Branch of Guizhou Tobacco Corporation,Tongren 554300,Guizhou,China)
出处
《湖北农业科学》
2024年第6期207-212,共6页
Hubei Agricultural Sciences
基金
中国烟草总公司贵州省公司贵阳市公司科技项目(黔烟筑科[2022]1号)
中国烟草总公司贵州省公司铜仁市公司科技项目(202202)
贵州大学实验室开放项目(SYSKF2023-046)。
关键词
丘陵山地
翻耕机具
姿态调整系统
模糊PID控制算法
仿真分析
hilly and mountainous areas
tillage equipment
attitude adjustment system
fuzzy PID control algorithm
simulation analysis
