温室电动拖拉机旋耕稳定性时序分析与前馈PID控制方法研究  

Rotary Tillage Stability of Greenhouse Electric Tractor Based on Time Series Analysis and Feedforward PID

作　　者：杨杭旭 周俊[1] 齐泽中[1] 孙晨阳 赖国梁 YANG Hangxu;ZHOU Jun;QI Zezhong;SUN Chenyang;LAI Guoliang(College of Engineering,Nanjing Agricultural University,Nanjing 210031,China;College of Mechanical and Electrical Engineering,Jinhua Polytechnic,Jinhua 321017,China)

机构地区：[1]南京农业大学工学院,南京210031 [2]金华职业技术学院机电工程学院,金华321017

出　　处：《农业机械学报》2024年第3期412-420,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2016YFD0701003);江苏省现代农机装备与技术示范与推广项目(NJ2021-36);金华市重点科技计划项目(2022-1-075)。

摘　　要：针对温室小型农机对地面平整度敏感,微小的地面起伏便会造成机具俯仰的情况,基于课题组已开发的温室电动拖拉机,将基于时间序列分析的角度预测方法引入前馈PID控制(Angle prediction and feedforward PID,APF-PID),解决了温室旋耕作业中因机具俯仰而出现的响应性差、耕深不稳定和功率突变的问题。建立了温室电动拖拉机旋耕作业的功率模型,并建立了俯仰角-耕深的转换矩阵,得到了旋耕系统实际耕深的转换值;采用时间序列分析预测机身俯仰角,并作为旋耕系统的扰动输入;结合耕深的转换值和预测得到的扰动,采用APF-PID控制器调节旋耕系统的提升机构,将旋耕机维持在目标耕深;在温室内未旋耕和已旋耕的两种地块进行实车试验。结果表明:俯仰角时序预测模型的相关系数可达0.983 2;APF-PID控制的控制性能优于PID控制,在目标耕深6 cm的测试路面中,APF-PID在两种试验地块上的平均耕深分别为6.47 cm和6.44 cm,均方根误差为0.80 cm和0.72 cm,绝对平均误差为0.67 cm和0.58 cm,耕深稳定性系数为89.95%和91.30%,消耗的总能量较PID控制分别降低4.18%和19.13%,较好地实现了温室电动拖拉机旋耕稳定性控制,满足温室作业需求。In response to the sensitivity of greenhouse small agricultural machinery to ground flatness,small ground undulations can cause the equipment to pitch.Based on the greenhouse electric tractor developed by the research group,the method based on time series analysis was introduced into angle prediction and feedforward PID control(APF-PID)to solve the problems of poor responsiveness,unstable tillage depth,and sudden power changes caused by equipment pitch in greenhouse rotary tillage operations.Firstly,a power model for greenhouse electric tractor rotary tillage operation was established,and a conversion matrix between pitch angle and tillage depth was established to obtain the conversion value of the actual tillage depth of the rotary tillage system.Secondly,time series analysis was used to predict the pitch angle of the aircraft body and serve as disturbance input for the rotary tillage system.Then,combining the conversion value of tillage depth and the predicted disturbance,the APF-PID controller was used to adjust the lifting mechanism of the rotary tillage system,and the rotary tiller was maintained at the target tillage depth.Finally,actual vehicle experiments were conducted on two types of plots in a greenhouse,one without rotary tillage and the other with rotary tillage.The results showed that the correlation coefficient of the pitch angle time series prediction model can reach 0.9832,the control performance of APF-PID control was superior to that of PID control.In the test road surface with a target tillage depth of 6cm,the average tillage depth of APF-PID on two test plots was 6.47cm and 6.44cm,with root mean square errors of 0.80cm and 0.72cm,absolute average errors of 0.67cm and 0.58cm,and tillage depth stability coefficients of 89.95%and 91.30%,respectively.The total energy consumption was reduced by 4.18%and 19.13%compared with that of PID control,which effectively achieved the stability control of greenhouse electric tractor rotary tillage and met the requirements of greenhouse operations.

关 键 词：电动拖拉机 温室 旋耕作业 稳定性控制 前馈PID 角度预测 

分 类 号：S219.4[农业科学—农业机械化工程]