基于模糊PID的顶夹式取苗装置苗盘定位控制方法  

Control Method for Seedling Tray Positioning in Top-clamping Seedling-taking Device Based on Fuzzy PID

作　　者：孔德航 张学东 崔巍[1,2] 吴海华 孙星[1,2] 王志伟 王春雷[1,4] 宁义超 KONG Dehang;ZHANG Xuedong;CUI Wei;WU Haihua;SUN Xing;WANG Zhiwei;WANG Chunlei;NING Yichao(Chinese Academy of Agricultural Mechanization Sciences Group Co.,Ltd.,Beijing 100083,China;State Key Laboratory of Agricultural Equipment Technology,Beijing 100083,China;Institute of Hunan Agricultural Equipment Research,Changsha 410005,China;College of Engineering and Technology,Southwest University,Chongqing 400715,China)

机构地区：[1]中国农业机械化科学研究院集团有限公司,北京100083 [2]农业装备技术全国重点实验室,北京100083 [3]湖南省农业装备研究所,长沙410005 [4]西南大学工程技术学院,重庆400715

出　　处：《农业机械学报》2024年第S1期207-216,229,共11页Transactions of the Chinese Society for Agricultural Machinery

基　　金：湖南省智能农机装备创新研发项目

摘　　要：针对顶夹式取苗装置苗盘精确输送定位的需求,提出了一种基于模糊PID与结合双传感器的苗盘精准定位控制方法。该方法通过激光传感器感知苗盘到位信息;通过角度传感器获取苗盘实时位置对应的角度信息;通过以两相混合式步进电机为对象建立的步进电机转角模糊PID控制模型对苗盘进行精确输送。以128穴标准育苗盘为输送对象,进行苗盘输送定位精度分析,结果表明,苗盘输送定位误差应小于2.13 mm,对应角度控制误差应小于2.03°。然后,根据顶夹式取苗装置工作原理,分析建立了苗盘输送定位控制系统。仿真试验表明,在获得的最优PID控制参数K_(P)=40、K_(I)=76、K_(D)=3.2下,模糊PID控制调节时间为0.18 s,受扰动后恢复时间0.31 s,响应最大变化量为0.94°,小于2.03°,动态性能与稳态性能均优于经典PID,满足控制精度需求。输送定位控制试验结果表明,模糊PID控制定位平均误差为0.32 mm,定位平均相对误差为0.92%,最大定位误差为0.53 mm,小于2.13mm,满足苗盘输送位置精确定位需求。该方法提升了系统抗干扰能力,为蔬菜自动移栽机关键技术升级提供了技术支撑。In response to the demand for precise conveying and positioning for seedling trays in topclamping seedling-taking devices,an accurate positioning control method based on fuzzy PID and dual sensors was proposed,which obtained the position information of seedling trays by a laser sensor and got corresponding angle information by an angle sensor.Moreover,a fuzzy PID control model based on a two-phase hybrid stepper motor was established to convey the seedling trays accurately.Taking the standard 128-cell seedling tray as the conveying object,the positioning accuracy of the seedling tray was analyzed,which showed that the positioning error of the seedling tray should be less than 2.13 mm,corresponding to the angle control error of less than 2.03°.Subsequently,the control system for seedling tray positioning was analyzed and established based on the working principle of the top-clamping seedling-taking device.The simulation results showed that under the optimal PID parameters,K_(P)=40,K_(I)=76,K_(D)=3.2,the adjustment time of fuzzy PID control was 0.18 s,the recovery time after disturbance was 0.31 s,and the maximum response variation was 0.94°,which was less than 2.03°.The fuzzy PID had a better dynamic and steady-state performance than the classical PID,meeting the control requirements.The positioning control results showed that the fuzzy PID achieved an average positioning error of 0.32 mm,an average relative positioning error of 0.92%,and a maximum positioning error of 0.53 mm,which was less than 2.13 mm.This method can meet the requirements for precise positioning of seedling tray conveying,enhancing the system′s antiinterference capability and providing a reference for the key technology upgrade of automatic vegetable transplanters.

关 键 词：移栽机 顶夹式取苗 苗盘定位 双传感器 模糊PID控制 

分 类 号：S223.92[农业科学—农业机械化工程]