基于GPC-ILC的秸秆捡拾致密成型机主轴转速控制方法研究  

Spindle Speed Control Method of Straw Picking Compactor

作　　者：王伟[1] 计东 宫元娟[1] 白雪卫[1] 李宁 李洪宇 WANG Wei;JI Dong;GONG Yuanjuan;BAI Xuewei;LI Ning;LI Hongyu(School of Engineering,Shenyang Agricultural University,Shenyang 110866,China;Liaoning Ningyue Agricultural Machinery Equipment Co.,Ltd.,Jinzhou 121400,China)

机构地区：[1]沈阳农业大学工程学院,沈阳110866 [2]辽宁宁越农机装备有限公司,锦州121400

出　　处：《农业机械学报》2024年第4期82-90,135,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51405311);国家重点研发计划项目(2017YFD0300701-A02B);辽宁省重点研发计划项目(2019JH8/10200019);辽宁省教育厅重点项目(LSNZD201707);辽宁省教育厅项目(LSNQN201904)。

摘　　要：为解决秸秆捡拾致密成型机主轴转速自动控制问题,以利于致密成型机全程智能化作业,设计了电液控制系统的数学模型与转速预测模型,提出了一种基于GPC-ILC的致密成型机主轴转速控制方法,通过采集先前成型机运行过程中的输入、输出数据,使用带遗忘因子的最小二乘法辨识广义预测控制的参数模型并计算预测输出值,根据以往过程的累计平均模型误差修正预测输出值,并引出迭代学习控制律,在线实时计算新的控制量,实现主轴转速的控制。场地收获试验表明:增负荷时,转速最大动态偏差为3.21 r/min,与目标值的偏差为2.6%,最大余差为1.23 r/min;减负荷时,最大动态偏差为2.23 r/min,与目标值的偏差为2.47%,最大余差为0.89 r/min;增减负荷转速达到稳定时间小于5 s,超调量小于3%。田间试验表明:最大动态偏差为3.75 r/min,与目标值的偏差为3.47%,最大余差为1.79 r/min,满足成型机田间作业的需求。GPC-ILC算法可及时校正模型失配、干扰引起的转速控制的不确定性。In order to solve the problem of automatic control of spindle rotation speed of straw picking compactor and facilitate the full mechanization of the compactor,the mathematical model and rotation speed prediction model of the electro-hydraulic control system were designed.The spindle rotation speed control method based on GPC-ILC for straw compactor was proposed.By collecting input and output data during the previous operation of the straw compactor,using the least square method with forgetting factors to identify the parameter model of generalized predictive control and calculate the predictive output value.By correcting the predictive output value based on historical model errors,and deriving an iterative learning control law,new control quantities were calculated online and real-time to achieve spindle speed control.Under the proposed algorithm,a field harvest experiment was conducted.When increasing the load,the maximum dynamic deviation of the rotational speed was 3.21 r/min,the deviation from the target value was 2.6%,and the maximum margin was 1.23 r/min.During load shedding,the maximum dynamic deviation was 2.23 r/min,the deviation from the target value was 2.47%,and the maximum margin was 0.89 r/min.The time for increasing or decreasing the load speed to reach stability was less than 5s,and the overshoot was less than 3%.Field experiments showed that the maximum dynamic deviation was 3.75 r/min,the deviation from the target value was 3.47%,and the maximum margin was 1.79 r/min,which met the needs of field operation of the molding machine.GPC-ILC algorithm can timely correct the uncertainty of rotational speed control caused by model mismatch and interference.

关 键 词：秸秆捡拾致密成型机 预测控制 迭代控制 控制系统 

分 类 号：S225.5[农业科学—农业机械化工程]