基于自适应模糊PID算法的蔗种调向装置定位控制  

Positioning Control of Sugarcane Seed Steering Device Based on Adaptive Fuzzy PID Algorithm

作　　者：段玉龙 许洪振 刘姣娣 陈庆立 沈漫林 DUAN Yulong;XU Hongzhen;LIU Jiaodi;CHEN Qingli;SHEN Manlin(College of Mechanical and Control Engineering,Guilin University of Technology,Guilin 541006,China)

机构地区：[1]桂林理工大学机械与控制工程学院,广西桂林541006

出　　处：《控制工程》2025年第2期242-250,共9页Control Engineering of China

基　　金：国家自然科学基金资助项目(51565048);广西自然科学基金资助项目(2021JJA160046);广西研究生教育创新计划项目(YCSW2022334)。

摘　　要：为解决蔗种调向装置取种稳定性差及效率低的问题,提高其定位精度和速度,保证调向环节的顺利进行,对调向装置的取种步进定位控制展开研究。通过分析取种定位要求,确定基于自适应模糊PID算法的步进定位控制策略;基于MATLAB/Simulink仿真平台建模,进行PID控制器和自适应模糊PID控制器的仿真对比分析。结果表明,在阶跃信号的作用下,自适应模糊PID控制所需的上升时间和调节时间相比于PID控制分别减少了61.7%和68.1%;加入扰动信号作用后,自适应模糊PID控制表现出良好的抗干扰能力,撤除扰动后仅用0.013 s便回归稳态,而PID控制未完全回归稳态,有稳态误差。自适应模糊PID控制能有效应对步进电机模型参数摄动的影响,其响应速度、抗干扰能力以及鲁棒性等各项性能更优,能够满足调向装置取种的定位要求。In order to solve the problems of poor stability and low efficiency of sugarcane seed selection in the directional device,improve its positioning accuracy and speed,and ensure the smooth progress of the directional process,research is conducted on the step-by-step positioning control of the directional device for seed selection.Determine the step positioning control strategy based on adaptive fuzzy PID algorithm by analyzing the requirements for seed selection and positioning.Modeling based on MATLAB/Simulink simulation platform,conducting simulation comparative analysis between PID controller and adaptive fuzzy PID controller.The results show that under the action of step signals,the rise time and adjustment time required for adaptive fuzzy PID control are reduced by 61.7%and 68.1%respectively compared to PID control.After adding disturbance signals,the adaptive fuzzy PID control shows good anti-interference ability.After removing the disturbance,it only takes 0.013 seconds to return to steady state,while PID control don’t fully return to steady state and had steady-state errors.The adaptive fuzzy PID control can effectively affect the parameter perturbations of the stepper motor model,and its response speed,anti-interference ability,and robustness are better,which can meet the positioning requirements of the directional device.

关 键 词：农业机械 取种步进定位控制 自适应模糊PID 蔗种 调向装置 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]