基于模糊PID的犊牛代乳粉奶液温度控制系统设计与试验  

Design and Test of Temperature Control System of Calf Milk Replacer Solution Based on Fuzzy PID

作　　者：贺刚 蔡晓华[3] 白阳 祝露 王德成[1] 侯云涛[3] HE Gang;CAI Xiaohua;BAI Yang;ZHU Lu;WANG Decheng;HOU Yuntao(College of Engineering,China Agricultural University,Beijing 100083,China;Huhhot Branch of Chinese Academy of Agricultural Mechanization Sciences Co.,Ltd.,Huhhot 010010,China;Heilongjiang Academy of Agricultural Machinery Sciences,Harbin 150081,China;School of Mechanical and Automation,Weifang University,Weifang 261061,China)

机构地区：[1]中国农业大学工学院,北京100083 [2]中国农业机械化科学研究院呼和浩特分院有限公司,呼和浩特010010 [3]黑龙江省农业机械工程科学研究院,哈尔滨150081 [4]潍坊学院机械与自动化学院,潍坊261061

出　　处：《农业机械学报》2022年第3期266-276,共11页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2016YFD0701703)。

摘　　要：为实现犊牛饲喂过程中冲调代乳粉奶液温度的有效控制、提高热交换器温度控制的准确率,设计一款基于模糊PID控制算法的动态温度控制系统,主要应用PID参数在线模糊自整定和PID温度控制模糊算法等实现动态调节被控对象(代乳粉奶液)温度,从而保证犊牛饮用代乳粉冲调奶液温度控制在(37±1)℃的可控范围内。设定热交换器温度为42℃,模拟外部入水温度分别为10、15、20、25℃时,犊牛饮奶位奶液温度与预先参数设定温度的波动幅度最大值仅为0.3℃。对犊牛饲喂装置的热交换器恒温控制系统进行样机性能试验,设定热交换器内的热水恒温控制在42℃,每5 min记录其温度,整个试验过程中热交换器内部温度基本控制在(42±0.2)℃范围内,温度平均相对误差以及变异系数小,系统温度控制稳定,能够满足犊牛对代乳粉冲调奶液温度的切实需求,实现了犊牛饲喂装置热交换器的快速响应和实时温度控制。In order to realize the real-time automatic adjustment of the temperature of milk powder and milk liquid in the process of calf feeding and improve the accuracy of temperature control of heat exchanger,a dynamic temperature control technology of heat exchanger was designed by using fuzzy PID control algorithm.This technology mainly realized the dynamic adjustment of the controlled object(milk replacer solution)temperature by using PID parameter on-line fuzzy self-tuning and PID temperature control fuzzy algorithm,so as to ensure that the temperature of milk prepared with milk substitute powder was controlled within a controllable range of about(37±1)℃.According to the requirements that the temperature of milk preparation liquid of milk substitute powder for scientific calf feeding was 38~40℃,when the temperature of heat exchanger was set to be 42℃and the entering water temperature adjusted to be 10℃,15℃,20℃and 25℃respectively,the maximum fluctuation range between the measured temperature of calf milk level and the preset temperature was only 0.3℃.The prototype performance test was carried out on the thermostatic control system of the heat exchanger of the calf feeding device.The thermostatic control of the hot water in the heat exchanger was set at 42℃,the time was recorded with a stopwatch and the temperature change was once every 5 min.During the whole test process,the temperature change range in the heat exchanger was basically controlled within(42±0.2)℃,and the average relative error and coefficient of variation of the temperature were small.The temperature control of the system was stable,which can meet the practical demand of calves for the temperature of milk replacer,and realize the rapid response and real-time temperature control of the heat exchanger of the calf feeding device.

关 键 词：代乳粉奶液 温度控制 犊牛饲喂 模糊PID 

分 类 号：S225.93[农业科学—农业机械化工程]