基于模糊PID的山地果园运输机动力稳定系统的设计与试验  

Design and experimental of dynamic stability system for mountain orchard transporter based on the self–tuning fuzzy PID controller

作　　者：吴伟斌[1,2,3,4] 张成[4] 洪添胜[1,2,3,4] 杨晓彬[4] 张伟[4] 冯灼峰[4] WU Weibin;ZHANG Cheng;HONG Tiansheng;YANG Xiaobin;ZHANG Wei;FENG Zhuofeng(Division of Citrus Machinery, China Agriculture Research System, Guangzhou 510642,China;Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, Guangzhou 510642, China;Guangdong E & T Research Center for Mountainous Orchard Machinery, Guangzhou 510642, China;College of Engineering, South China Agricultural University, Guangzhou 510642, China)

机构地区：[1]国家柑橘产业技术体系机械研究室,广东广州510642 [2]南方农业机械与装备关键技术教育部重点实验室,广东广州510642 [3]广东省山地果园机械创新工程技术研究中心,广东广州510642 [4]华南农业大学工程学院,广东广州510642

出　　处：《湖南农业大学学报（自然科学版）》2017年第4期443-450,共8页Journal of Hunan Agricultural University(Natural Sciences)

基　　金：公益性行业(农业)科研专项(201203016;201403036);现代农业产业技术体系建设专项(CARS–27);"十二.五"农村领域国家科技计划课题(2014BAD16B0103);广东省科技计划项目(2014A070713032)

摘　　要：以提高华南农业大学研制的山地果园轻简化轮式运输机作业动力控制稳定性为目标,设计加装了一种成本较低的动力稳定系统。系统由制动手柄、电推杆、电磁阀、制动油泵、制动钳组成。根据控制策略在Simulink中建立动力独立控制模型,经过仿真分析,在稳态之后非受控的动力轮速度与受控动力轮的速度相等,整车驱动力增大,提高了运输机在路况参数多变路面的通过性,并在动力稳定系统的基础上加入了自适应模糊PID速度控制器,对其进行了仿真分析。结果表明,在3.5 s时,两侧动力轮纵向速度之差进入稳定响应,稳态绝对误差绝对值最大值为0.422 2,最小值为0.004 7,响应到达并保持在终值±5%误差内所需的最短时间为3.0 s,稳态条件下(t→∞)的误差为0,加快了系统响应速度,提高了调节精度与稳定性。对运输机实车测试,受控后稳态车轮速度的绝对误差为0.178 1~0.396 1 km/h,相对误差为0.71%~5.27%,与仿真结果一致。To improve the control stability of mountain orchard transporter designed by South China AgriculturalUniversity,a power stabilization system with low cost was designed and installed.The system consists mainly of brakehandle,electric push rod,electromagnetic valve,brake oil pump,and brake clamp etc.According to the control strategy,power independently control model is established in Simulink.Through the simulation analysis,the speed ofuncontrolled power wheel equals the speed of controlled power wheel and vehicle driving force increases under steadystate,to improve passing ability of the transporter under the changeable road condition.Furthermore,the adaptive fuzzyPID speed controller is joined to the system.The simulation results show that the stable response was started at3.5s forthe difference between the longitudinal velocity of momentum wheel on both sides with the maximum absolute error of0.4222and the minimum value of0.0047.Response to reach and maintain the final value error of plus or minus5%within the shortest time of3.0s.Under the condition of the steady state(t→∞),the error is0,increasing the system response speed and improving the accuracy and stability.The results of test in vehicle showed that the absolute error ofcontrolled post–steady wheel speed range of0.1781–0.3961km/h and the relative error range of0.71%–5.27%,whichwas consistent with the simulation results.

关 键 词：山地果园运输机 MATLAB 动力稳定控制 模糊PID 仿真 

分 类 号：S237[农业科学—农业机械化工程] TP274.2[农业科学—农业工程]