基于积分分离式PID控制算法的机械自动控制系统设计  

Design of Mechanical Automatic Control System Based on Integral Discrete PID Algorithm

作　　者：熊中刚 刘忠 霍佳波 王寒迎 李小龙 姜守帅 XIONG Zhonggang;LIU Zhong;HUO Jiabo;WANG Hanying;LI Xiaolong;JIANG Shoushuai(School of Mechanical Engineering,Guilin University of Aerospace Technology,Guilin 541004,China)

机构地区：[1]桂林航天工业学院机械工程学院

出　　处：《信阳师范学院学报（自然科学版）》2020年第1期138-143,共6页Journal of Xinyang Normal University(Natural Science Edition)

基　　金：国家自然科学基金项目(51765014,51275060);广西教育厅中青年教师科研基础能力计划提升项目(2019KY0812);贵州省千层次创新人才项目(遵科高[2018]13号)

摘　　要：基于单片机控制的积分分离式PID控制算法设计了一种收割机自动控制系统.系统以STC12C5A60S2为控制核心,经由脱粒滚筒转速信号检测模块、谷物喂入量检测模块、脱粒滚筒扭矩检测模块和籽粒搅龙轴转速模块采集相应数据信息,经系统内部相互协调综合算法处理后,实时输出相应控制信号至电动推杆,调控其AD值驱动HST变速器动作,进而获得最佳积分分离限β值控制收割机行走系统以达到最优状态;并能实时处理收割机作业过程中过载降速或堵转等突发状况,最后通过仿真实验分别完成了传统PID控制算法与三种不同积分分离限的情况下积分分离式PID控制算法的对比控制效果.仿真实验结果表明:基于积分分离式PID控制算法的机械控制系统优化设计必须是基于传统PID控制算法基础,以最优参数比例进行恰当调整实现.Based on the integral separation PID control algorithm of single chip microcomputer, the automatic control system of harvester is designed. The STC12 C5 A60 S2 is taken as control core of the system, and the relevant data and information are collected through the detection module of the threshing cylinder rotation speed signal, the test module of the grain feed, the detection module of threshing drum torque and the speed module of the seed auer shaft with the system internal coordinated integrated algorithm processing. Then the corresponding control signals are sent to electric putter in real-time, and the best integral walking limit valueβof the harvester control system is to achieve the optimal state by regulating its AD value for driving HST. In addition, the sudden situation of the process of harvester operation could be dealt with such as overload, slow down speed or block rotation in real time. At last, the control effects of the traditional PID control algorithm and the integral separation PID control algorithm with three different integral separation limits are respectively completed through the simulation test and comparison experiments. The simulation results showed that the optimal design of mechanical control system based on integral discrete PID control algorithm must be based on traditional PID control algorithm, and the optimal parameter ratio is adjusted appropriately.

关 键 词：收割机 积分分离式PID算法 速度标定 自动控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]