基于增量式PID油茶果采摘控制系统设计与试验  

Design and experiment of Camellia oleifera plucking control system based on incremental PID

作　　者：朱红春 王荣炎 方栋 吴成 陈丰 刘洋洋 伍德林[1] ZHU Hongchun;WANG Rongyan;FANG Dong;WU Cheng;CHEN Feng;LIU Yangyang;WU Delin(College of Engineering,Anhui Agricultural University,Hefei 230036,China;College of Mechanical Engineering,Anhui Science and Technology University,Fengyang 233100,China)

机构地区：[1]安徽农业大学工学院,安徽合肥230036 [2]安徽科技学院机械工程学院,安徽凤阳233100

出　　处：《安徽科技学院学报》2024年第5期42-50,共9页Journal of Anhui Science and Technology University

基　　金：安徽省高校协同创新项目(GXXT-2023-111);安徽省自然科学基金面上项目(2208085ME132)。

摘　　要：目的:提高油茶果采摘的控制精度,改善传统PID算法存在的振荡频率过高、超调过大等问题。方法:提出基于增量式PID油茶果采摘控制策略,在传统PID基础上增加采样装置以获得离散信号,通过对控制系统数学建模并求解得到最佳振动频率,用MATLAB软件对系统各种工作环境下进行仿真。结果:在加入增量式PID控制系统后,系统的振荡频率减小12%、超调量减小16%、稳态调节时间缩短45 s。结论:增量式PID控制算法可以使得系统的振荡频率减小、控制精度提高、抗干扰能力变强,并且获得最佳工作频率,减小果实损伤率和花苞掉落率。Objective:To improve the control accuracy of Camellia oleifera fruit picking,and to improve the problems of too high oscillation frequency and excessive overshoot in the traditional PID algorithm were improved.Methods:Based on the incremental PID Camellia oleifera picking control strategy,a sampling device was added on the basis of the traditional PID to obtain discrete signals,the optimal vibration frequency was obtained through mathematical modeling and solution of the control system,and various working environments of the system were simulated by MATLAB/Simulink software.Results:After adding the incremental PID control system,the oscillation frequency of the system was reduced by 12%,the overshoot was reduced by 16%,and the steady-state adjustment time was shortened by 45 s.Conclusion:The incremental PID control algorithm could reduce the oscillation frequency,improve the control accuracy,and strengthen the anti-interference ability of the system,and obtain the best working frequency to reduce the fruit damage rate and bud drop rate.

关 键 词：油茶果 末端执行器 增量式PID MATLAB仿真 控制精度 

分 类 号：S24[农业科学—农业电气化与自动化]