变目标滑转率-位置双参数耕深控制方法研究  

Research on Tillage Depth Control Method of Double Parameters of Variable Target Slip Rate and Position

作　　者：韩宗冉 杨俊茹[1] 李瑞川[1,2] 徐学政 李艳超 李宁 Han Zongran;Yang Junru;Li Ruichuan;Xu Xuezheng;Li Yanchao;Li Ning(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China;School of Mechanical and Automotive Engineering,Qilu University of Technology(Shandong Academy of Sciences),Ji’nan 250353,China;Rizhao Haizhuo Hydraulic Co.Ltd.,Rizhao 276800,China)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590 [2]齐鲁工业大学(山东省科学院),济南250353 [3]日照海卓液压有限公司,山东日照276800

出　　处：《农机化研究》2023年第8期246-252,共7页Journal of Agricultural Mechanization Research

基　　金：山东省重点研发计划项目(2020CXGC010806);2018年工业强基工程项目(TC180A3Y1);智能制造新模式应用项目(2017-2021)。

摘　　要：结合拖拉机作业特点及电液悬挂系统特点,提出以Smith-模糊PID控制算法为核心的变目标滑转率-位置综合控制方案。设计了拖拉机电液悬挂系统变目标滑转率-位置综合控制方案,并阐明其工作原理,设计了Smith-模糊PID控制器。为验证控制方案的性能,搭建了控制系统田间试验平台,开展了田间试验。结果表明:Smith-模糊PID控制算法对于田间作业环境具有更强的适应性,抗干扰性更好,能够满足拖拉机田间作业的需求;变目标滑转率-位置综合控制系统所得的耕深和滑转率变化更加稳定,具有更好的控制性能,能够根据不同的土壤类型实时调整,对田间复杂作业环境的适应性更强,可为耕深控制方法的研究提供参考。Combining the characteristics of tractor operation and electro-hydraulic suspension system,a variable target slip rate and position integrated control scheme with Smith-fuzzy PID control algorithm as the core is proposed.Designed the variable target slip rate-position integrated control scheme of the tractor electro-hydraulic suspension system,and clarified its working principle,and designed the Smith-fuzzy PID controller.At the same time,in order to verify the performance of the variable target slip rate and position integrated control scheme with the Smith-fuzzy PID control algorithm as the core,a control system field test platform was built,and field tests were carried out.The test results showed that:It has stronger adaptability and better anti-interference ability,which can meet the needs of tractor field operations;the variable target slip rate and position integrated control system obtains more stable changes in tillage depth and slip rate,and has better control performance.It can be adjusted in real time according to different soil types,and is more adaptable to the complex operating environment in the field,which provides a reference for the research on the control method of tillage depth.

关 键 词：耕深 Smith-模糊PID 变目标滑转率-位置综合控制 拖拉机 

分 类 号：S219.03[农业科学—农业机械化工程] O32.4[农业科学—农业工程]