BP神经网络PID果园运输车调平系统研究  

Research on BP Neural Network PID Orchard Transporter Leveling System

作　　者：戚得众 闫行行 阮晓松 QI De-zhong;YAN Xing-xing;RUAN Xiao-song(Hubei University of Technology,School of Mechanical Engineering,Hubei Wuhan 430068,China;Hubei Agricultural Machinery Engineering Research and Design Institute,Hubei Wuhan 430068,China)

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430068 [2]湖北省农业机械工程研究设计院,湖北武汉430068

出　　处：《机械设计与制造》2024年第8期186-190,共5页Machinery Design & Manufacture

基　　金：十三五国家重点研发计划资助(2018YFD0700604);湖北省重点研发计划项目(2020BBB063)。

摘　　要：针对丘陵果园坡度较大,运输果箱过程中易发生倾覆的问题,根据运输车行驶过程中不同的倾斜状态,设计出一种基于BP神经网络的PID果箱调平控制方案,通过仿真分析表明:以倾斜角下降到2°以下时为理想状态。路面扰动分别为25°、20°、15°时,BP神经网络PID达到理想状态耗时分别为3.3s、2.8s、2.4s。与传统PID控制算法相比,该控制方案达到理想状态时其效率分别提升13.1%、22.2%、31.4%。峰值分别优化19.43%、14.68%、20.42%。通过试验结果表明:在20°坡面上,达到稳态时误差为1.1°,耗时5.5s;在25°坡面上,达到稳态时误差为1.8°,耗时6.4s。仿真与试验结果说明本文提出的基于BP神经网络的PID果箱调平控制方法具有良好的控制效果和稳定性。对实际生产过程具有指导意义。Aiming at the problem that the slope of the hilly orchard area is large and the fruit box is prone to overturning during the transportation of the fruit box,according to the different inclination state of the transport vehicle during the driving process,a PID fruit box leveling control scheme based on the BP neural network is designed,and the simulation analysis is carried out.It shows that it is an ideal state when the inclination angle drops below 2°.When the road disturbance is 25°,20°,15°,the time required for the BP neural network PID to reach the ideal state is 3.3s,2.8s,2.4s,respectively.Compared with the classic PID controller,the efficiency of the control scheme is increased by 13.1%,22.2%,and 31.4%when it reaches the ideal state.The peak values were optimized by 19.43%,14.68%,and 20.42%.The test results show that on a slope of 20°,the error is 1.1°when reaching the steady state,and it takes 5.5s;on a slope of 25°,the error is 1.8°when reaching the steady state,and it takes 6.4s.The simulation and test results show that the PID fruit box leveling control method based on BP neural network proposed in this paper has good control effect and stability.It has guiding significance for the actual production process.

关 键 词：丘陵果园 履带式运输车 BP神经网络 PID 果箱调平 倾斜角 

分 类 号：TH16[机械工程—机械制造及自动化] TH22