基于QBP-PID的履带式作业机全向调平控制研究  

Omnidirectional Leveling Control of Crawler Machine Based on QBP-PID

作　　者：孙泽宇[1,2] 夏长高 蒋俞[3] 郭逸凡 汪若尘 SUN Zeyu;XIA Changgao;JIANG Yu;GUO Yifan;WANG Ruochen(School of Agricultural Engineering,Jiangsu University,Zhenjiang 212013,China;Jiangsu Linhai Power Machinery Group Company,Taizhou 225300,China;School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学农业工程学院,镇江212013 [2]江苏林海动力机械集团有限公司,泰州225300 [3]江苏大学汽车与交通工程学院,镇江212013

出　　处：《农业机械学报》2023年第12期397-406,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2016YFD0700400);江苏大学农业装备学部项目(NZXB20210101)。

摘　　要：针对丘陵山区农业机械作业时的机身倾角变化大、工作品质和作业安全性差等问题,以履带式作业机为研究对象,设计了一种基于“3层车架”的液压全向调平系统,并提出了复合Q学习-BP神经网络-PID(QBP-PID)的全向调平控制策略。首先,给出了全向调平整机结构方案和工作原理,在此基础上,建立了包含全向调平系统的履带式作业机整机动力学模型。然后,针对PID控制参数难以整定的问题,通过BP神经网络对PID控制参数进行实时更新,并引入Q学习算法对神经网络连接权值进行在线更新,建立了全向调平复合QBP-PID控制器。仿真结果表明,QBP-PID控制下,20°横向调平时间为2.8 s, 25°纵向调平时间为3.2 s,相较于PID与BP-PID控制,减小了调平时间,并且未出现超调量。最后,进行横坡路面和纵坡路面的整机试验,与仿真结果相比,横向和纵向调平时间误差为0.6 s和0.4 s,且平地路面机身倾角小于1.5°,满足丘陵山区农业机械调平性能需求。A hydraulic omnidirectional leveling system was designed based on"three-layer frame"and a composite Q-learning-BP neural network-PID(QBP-PID)omnidirectional leveling control algorithm was proposed,and the crawler machine was taken as the research object.Firstly,the structural scheme and working principle of the whole omnidirectional leveling machine were given.On this basis,a dynamic model of the entire crawler machine,including the omnidirectional leveling system,was established.Then aiming at the problem that PID control parameters were difficult to be adjusted,an omnidirectional leveling compound QBP-PID controller was established.The PID control parameters were updated in real time through the BP neural network,and the Q-learning algorithm was introduced to update the neural network connection weights online.Results of simulation showed that the leveling time under QBP-PID control was 2.8 s for 20°transverse leveling and 3.2 s for 25°longitudinal leveling.Compared with PID and BP-PID control,the leveling time was reduced,and no overshoot occurred.In the end,the complete machine test on transverse slope road and longitudinal slope road was carried out.Compared with the simulation results,the errors of transverse and longitudinal leveling time were O.6 s and 0.4 s.And the body inclination angle on the horizontal ground was less than 1.5°,which satisfied the leveling performance demand of hilly mountainous agricultural machinery.

关 键 词：履带式作业机 全向调平 丘陵山区 QBP-PID 整机试验 

分 类 号：S233.2[农业科学—农业机械化工程]