果园升降平台自动调平控制系统设计与试验  

Design and experiment of automatic leveling control system for orchards lifting platform

作　　者：樊桂菊[1,2] 王永振[1] 张晓辉[1,2] 赵金英[3] 宋月鹏[1,2] 

机构地区：[1]山东农业大学机械与电子工程学院,泰安271018 [2]山东省园艺机械与装备重点实验室,泰安271018 [3]中国农业机械化科学研究院,北京100083

出　　处：《农业工程学报》2017年第11期38-46,共9页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家"十二五"科技支撑计划项目(2011BAD20B10-2-4);山东省现代农业产业技术体系果品产业创新团队资金(SDAIT-06-12);山东省重点研发项目(2016GNC112006)

摘　　要：为提高果园升降平台调平精度和稳定性,设计了一种自动调平控制系统。通过调平机构动力学分析,建立了调平控制系统数学模型;利用融合卡尔曼滤波的模糊PID控制电磁阀驱动油缸伸缩调整工作台姿态,实现其自动调平。对控制系统进行仿真,结果表明:模糊PID控制较PID控制性能好,峰值时间缩短47.82%,调节时间缩短48.10%,最大超调量减小52.78%,经卡尔曼滤波后控制误差降低44.57%;对系统响应时间和调平效果进行测试,结果表明:自动调平控制系统响应时间为0.078 s;在平台不升降和升降2种工况下,最大坡度满载下自动调平最大误差分别为1.08°和1.74°,调平精度相对原果园升降平台调平系统分别提高了1.69°和1.91°,较好的实现了工作台自动调平控制。该研究为农业机具调平控制提供参考。Lifting platform for orchards plays a significant role in the fruit industry,because it successfully solves many difficult problems of picking fruit and trimming branches.However,there are some uncontrollable problems such as leveling instability,poor operational capacity in current machines.So it is necessary to design better leveling system to improve their working efficiency and stability.Domestic and foreign scholars have done a lot of researches on the leveling system for high-altitude lifting platforms,which provide important academic reference for the design and improvement of the leveling system for orchards lifting platform.There are higher leveling requirements because of poor terrain in orchards.United States,Australia and Japan are the earlier countries to produce lifting platform for orchards and their devices have achieved the automatic leveling.They are yet too expensive for Chinese farmers to afford.In China,it was not until 1980s that the lifting platform for orchards was made.Some types of the lifting platforms made in China realized mechanical leveling,but their leveling accuracy and working efficiency were lower.To this end an auto leveling control system was designed on the basis of the related information at home and abroad.Such a leveling control system consisted of lifting platform,leveling mechanism,hydraulic system and control system.By analyzing forces and movement of the leveling mechanism of the leveling control system,the dynamic mathematical model for the control system was set up.As we all know,the fuzzy control can decrease the overshoot,and PID（proportion,integral,derivative）control can increase the response speed,and Kalman filter can reduce signal interference.So the fuzzy PID control system with Kalman filter was designed.According to the information collected by inclinometer,the control system makes a decision,and then controls electromagnetic valve to drive the leveling cylinder to extend or retract,which can change the motion of the work platform and keep it level.The r

关 键 词：算法 控制 设计 升降平台 自动调平 

分 类 号：S233.74[农业科学—农业机械化工程]