全液压驱动农用机械同步控制联合仿真研究

doi:10.13733/j.jcam.issn.2095-5553.2023.11.016

摘要/Abstract

摘要： 为提高农用机械面对偏载启动、负载突变和系统调速时的自适应性，提出一种基于BPPID控制的全液压驱动农用机械同步控制系统。首先分析该系统液压工作原理，并提出转速控制原理和同步控制策略；其次分析BP神经网络原理并设计BPPID控制系统；最后运用AMESim和Matlab/Simulink进行建模和联合仿真分析。仿真结果表明：采用BPPID控制系统相对于PID控制系统，系统偏载启动时，响应速度提高36.4%，系统没有超调量，响应速度更快；负载突变时，系统转速变化量减少32%，系统响应速度提高25%，系统具有更好的鲁棒性；目标转速变化时，系统具有更好的调速性能。

关键词: 农用机械, 全液压驱动, BPPID, 同步控制, 联合仿真

Abstract: In order to improve the adaptability of agricultural machinery in the face of eccentric load start, load mutation, and system speed regulation, an asynchronous control system of fully hydraulic driven agricultural machinery based on BPPID control is proposed. Firstly, the hydraulic working principle of the system is analyzed, and the speed control principle and synchronous control strategy are analyzed. Secondly, the principle of the BP neural network is analyzed and the BPPID control system is proposed. Finally, AMESim and Matlab/Simulink are used for modeling and joint simulation analysis. The simulation shows that compared with the PID control system, the response speed of the BPPID control system is increased by 36.4% when the system is started under eccentric load, the system has no overshoot and the response speed is faster. When the load changes suddenly, the change of system speed is reduced by 32%, and the system response speed is increased by 25%. The system has better robustness. When the target speed changes, the system has better speed regulation performance.

Key words: agricultural machinery, full hydraulic driven, BPPID, synchronous control, joint simulation

中图分类号:

S22： TP273

魏圣坤, 文勇. 全液压驱动农用机械同步控制联合仿真研究[J]. 中国农机化学报, 2023, 44(11): 102-108.

Wei Shengkun, Wen Yong. Research on joint simulation of synchronous control of fully hydraulic driven agricultural machinery[J]. Journal of Chinese Agricultural Mechanization, 2023, 44(11): 102-108.

参考文献

［1］　翟卫欣, 王东旭, 陈智博, 等. 无人驾驶农机自主作业路径规划方法［J］. 农业工程学报, 2021, 37(16): 1-7.
Zhai Weixin, Wang Dongxu, Chen Zhibo, et al. Autonomous operation path planning method for unmanned agricultural machinery ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2021, 37(16): 1-7.
［2］　巩朋成, 谭颖, 詹云峰, 等. 一种高精度的无人驾驶农机系统研究［J］. 湖北农业科学, 2020, 59(4): 141-146.
Gong Pengcheng, Tan Ying, Zhan Yunfeng, et al. Research on high precision positioning system of unmanned agricultural machinery ［J］. Hubei Agricultural Sciences, 2020, 59(4): 141-146.
［3］　卢笑宇. 农用机械液压油缸自动化设计系统开发［J］. 南方农机, 2021, 52(17): 77-79.
Lu Xiaoyu. Development of automatic design system for hydraulic cylinders of agricultural machinery ［J］. China Southern Agricultural Machinery, 2021, 52(17): 77-79.
［4］　李家学, 李善军, 张衍林, 等. 山地果园运输机液压驱动系统设计［J］. 安徽农业大学学报, 2021, 48(1): 143-149.
Li Jiaxue, Li Shanjun, Zhang Yanlin, et al. Design of hydraulic drive system for mountain orchard transporter ［J］. Journal of Anhui Agricultural University, 2021, 48(1): 143-149.
［5］　张颖, 赵京鹤. 基于自适应滑模控制的液压支架试验台同步控制特性分析［J］. 机床与液压, 2021, 49(22): 176-179.
Zhang Ying, Zhao Jinghe. Synchronizing control characteristics analysis of hydraulic support testbed based on adaptive sliding mode control ［J］. Machine Tool & Hydraulics, 2021, 49(22): 176-179.
［6］　高辉, 范秋溦. 防缠导板驱动液压缸同步特性分析与仿真［J］. 冶金自动化, 2021, 45(4): 81-87.
Gao Hui, Fan Qiuwei. Analysis and simulation of synchronization characteristics of hydraulic cylinder driven by antisticking guide ［J］. Metallurgical Industry Automation, 2021, 45(4): 81-87.
［7］　董代安, 初石泉, 夏松鸽. 基于AMESim与Simulink联合仿真的矿井无轨列车液压同步控制系统［J］. 煤炭科技, 2020, 41(3): 42-45.
Dong Daian, Chu Shiquan, Xia Songge. Hydraulic synchronous control system of mine trackless train based on AMESim and Simulink joint simulation ［J］. Coal Science & Technology Magazine, 2020, 41(3): 42-45.
［8］　魏列江, 顾青青, 辛钰林, 等. 顶模体系中多缸同步顶升液压控制系统设计［J］. 机床与液压, 2021, 49(11): 65-69.
Wei Liejiang, Gu Qingqing, Xin Yulin, et al. Design on hydraulic control system for multicylinder synchronous lifting of jackup formwork system ［J］. Machine tool & hydraulics, 2021, 49(11): 65-69.
［9］　聂慧远, 李绍铭. 粒子群优化算法优化BP神经网络联合PID模型的烧结自动加水控制［J］. 冶金自动化, 2022, 46(1): 44-53.
Nie Huiyuan, Li Shaoming. Optimization of BP neural network combined with PID model based on PSO algorithm auto wetting control of sintering ［J］. Metallurgical Industry Automation, 2022, 46(1): 44-53.
［10］　周强, 张东民, 王磊, 等. 含双重补偿的液压缸位置同步控制［J］. 液压与气动, 2021, 45(11): 158-164.
Zhou Qiang, Zhang Dongmin, Wang Lei, et al. Synchronous control of hydraulic cylinder position with double compensation ［J］. Chinese Hydraulics & Pneumatics, 2021, 45(11): 158-164.
［11］　赵志鑫, 苏东海. 基于神经网络PID控制的自动装配平台电液位置伺服系统［J］. 机械工程师, 2021(9): 55-56, 59.
Zhao Zhixin, Su Donghai. Electro hydraulic position servo system of automatic assembly platform based on neural network PID control ［J］. Mechanical Engineer, 2021(9): 55-56, 59.
［12］　刘芳华, 张进金, 李欣, 等. 吊舱推进器安装平台的液压同步控制策略［J］. 船舶工程, 2021, 43(5): 105-110.
Liu Fanghua, Zhang Jinjin, Li Xin, et al. Hydraulic synchronization control strategy of pod thruster installation platform ［J］. Ship Engineering, 2021, 43(5): 105-110.
［13］　王超, 邹美兵. 液压油缸同步升降控制［J］. 内燃机与配件, 2021(10): 94-95.
Wang Chao, Zou Meibing. Synchronous control of hydraulic cylinder ［J］. Internal Combustion Engine & Parts, 2021(10): 94-95.
［14］　胡爱闽. 基于AMESim和Simulink的液压升降台同步控制仿真研究［J］. 煤矿机械, 2007(12): 45-47.
Hu Aimin. Simulation analysis of synchronization control for hydraulic lift stage based on AMESim/Simulink ［J］. Coal Mine Machinery, 2007(12): 45-47.
［15］　卞永明, 陈启凡, 杨濛, 等. 基于改进粒子群算法的液压同步提升控制［J］. 机电一体化, 2021, 27(3): 30-36.
Bian Yongming, Chen Qifan, Yang Meng, et al. Hydraulic synchronous lifting control based on improved particle swarm algorithm ［J］. Mechatronics, 2021, 27(3): 30-36.
［16］　周山旭, 罗艳蕾, 杜黎. 水田整平机驱动液压缸模糊PID同步控制仿真设计［J］. 液压气动与密封, 2021, 41(11): 29-32.
Zhou Shanxu, Luo Yanlei, Du Li. Fuzzy PID synchronous control simulation design of driving hydraulic cylinder for paddy field leveler ［J］. Hydraulics Pneumatics & Seals, 2021, 41(11): 29-32.
［17］　陈靖, 罗瑜, 罗艳蕾. 农用机械同步控制系统联合仿真分析［J］. 科学技术与工程, 2020, 20(23): 9362-9366.
Chen Jing, Luo Yu, Luo Yanlei. Cosimulation analysis of synchronization control system on agricultural machinery ［J］. Science Technology and Engineering, 2020, 20(23): 9362-9366.
［18］　张静, 张超勇, 张思涵, 等. 基于均值耦合的多液压缸位置同步控制［J］. 液压与气动, 2021(2): 50-55.
Zhang Jing, Zhang Chaoyong, Zhang Sihan, et al. Multicylinder position synchronization control based on mean coupling ［J］. Chinese Hydraulic & pneumatics, 2021(2): 50-55.
［19］　张豫南, 闫猛飞, 房远, 等. 全方位运动车辆变结构耦合同步控制策略研究［J］. 兵器装备工程学报, 2022, 43(6): 116-120, 175.
Zhang Yunan, Yan Mengfei, Fang Yuan, et al. Research on variable structure coupled synchronous control strategy for omnidirectional moving vehicle ［J］. Journal of Ordnance Equipment Engineering, 2022, 43(6): 116-120, 175.
［20］　张玲玲. 基于BP神经网络PID控制的风电叶片静力加载系统［J］. 煤炭加工与综合利用, 2021(2): 88-91.
Zhang Lingling. The static loading system of wind power blades based on BP neural network PID control ［J］. Coal Processing & Comprehensive Utilization, 2021(2): 88-91.

[1]	王金武, 杨会民, 陈毅飞, 周欣, 蒋永新, 张佳喜. 国内仿形技术在农用机械上的应用分析[J]. 中国农机化学报, 2023, 44(4): 31-39.
[2]	鲁丁, 王卫兵, 韩帅. 取苗机械手运动控制联合仿真研究及试验[J]. 中国农机化学报, 2023, 44(2): 8-13.
[3]	章新, 董荻, 睢志伟, 李占龙, 李建伟. 液压减振器节流孔与拖拉机减振特性研究[J]. 中国农机化学报, 2022, 43(7): 57-62.
[4]	宋琦;王卫兵;喻俊志;申团辉;. 移栽机械臂的设计及仿真研究[J]. 中国农机化学报, 2020, 41(5): 12-16.
[5]	胡卫;秦永法;曾励;张持;. 前驱式纯电动汽车制动能量回收控制策略研究[J]. 中国农机化学报, 2019, 40(8): 116-121.
[6]	闫瑞琦;夏光;唐希雯;孙保群;. 基于AMEsim-Simulink微电机驱动的集成式比例控制滑阀仿真研究[J]. 中国农机化学报, 2019, 40(1): 108-116+131.