基于位-力-滑主副次分级的大马力拖拉机耕深控制研究  

Tillage Depth Control of High Horsepower Tractors Based on Position-Force-Sliding of Main-Secondary-Least Grading

作　　者：李瑞川 吴桐 武小伟 方斌[1] 李德芳 李正宇 夏玉海 林江海 陈兰正 Li Ruichuan;Wu Tong;Wu Xiaowei;Fang Bin;Li Defang;Li Zhengyu;Xia Yuhai;Lin Jianghai;Chen Lanzheng(School of Mechanical Engineering,Qilu University of Technology(Shandong Academy of Sciences),Jinan 250353,China;Shandong Institute of Mechanical Design and Research,Jinan 250353,China;Weichai Lewo Smart Agricultural Technology Co.,Ltd.,Weifang 261000,China;Weichai Lewo Heavy Industry Co.,Ltd.,Weifang 261000,China)

机构地区：[1]齐鲁工业大学(山东省科学院)机械工程学部,济南250353 [2]山东省机械设计研究院,济南250353 [3]潍柴雷沃智慧农业科技股份有限公司,山东潍坊261000 [4]潍柴雷沃重工股份有限公司,山东潍坊261000

出　　处：《农机化研究》2025年第8期286-291,300,共7页Journal of Agricultural Mechanization Research

基　　金：山东省重点研发计划项目(2020CXGC011005);国家农业部重点研发计划项目(NK202216010102);山东省重点研发计划项目(2022CXGC020702);山东省重点研发计划项目(2021CXGC010207);山东省自然科学基金面上项目(ZR2021ME116);山东省重点研发计划项目(2021CXGC010813)。

摘　　要：针对现有的耕深控制方法无法同时考虑多个控制因素的问题,提出了一种基于位-力-滑主副次分级的耕深控制方法,具体为:将影响耕深均匀性的3个因素分别组成3个控制回路:主级控制回路的控制因素为位置因素,用于直接控制悬挂机构的实际高度,从而达到调节耕深的目的;副级控制回路的控制因素为阻力因素;次级控制回路的控制因素为滑转率因素;副级控制回路和次级控制回路通过对主级控制回路中PID控制器控制参数的多级调整实现对悬挂机构的间接控制,从而实现对耕深的分级调节。通过对控制回路的主、副、次级划分来充分利用多因素之间的复合交互作用,从而达到提高耕深均匀性的目的。试验结果表明:位-力-滑主副次分级控制下的耕深均匀性明显优于PID控制,滑转率也得到了一定改善。Aiming at the problem that existing tillage depth control methods cannot simultaneously consider multiple control factors,a tillage depth control method based on position-force-slidingof main-secondary-least grading was proposed.This method combined three factors that affect the uniformity of tillage depth into three control loops.The control factor of the main control loop was the position factor,and the main control loop was used to directly control the actual height of the suspension mechanism,thereby achieving the purpose of adjusting tillage depth.The control factor of the secondary control circuit was resistance factor,while the control factor of the least control circuit was slip rate factor.The secondary control circuit and the least control circuit achieved indirect control of the suspension mechanism through multi-level adjustment of the PID controller control parameters in the main control circuit,thereby achieving graded adjustment of the plowing depth.This control method fully utilized the composite interaction between multiple factors by dividing the main,secondary,and least components of the control circuit,thereby achieving the goal of improving the uniformity of tillage depth.The experimental results showed that the uniformity of tillage depth using this method was significantly better than PID control,and the slip rate had also been improved to some extent.

关 键 词：大马力拖拉机 耕深均匀性 模糊控制 分级控制 

分 类 号：S219.032.4[农业科学—农业机械化工程]