基于模糊PID控制的甘蔗收割机刀盘仿形系统设计及仿真*

doi:10.13733/j.jcam.issn.20955553.2021.11.03

中国农机化学报 ›› 2021, Vol. 42 ›› Issue (11): 12-16.DOI: 10.13733/j.jcam.issn.20955553.2021.11.03

基于模糊PID控制的甘蔗收割机刀盘仿形系统设计及仿真^*

董哲, 陆静平

广西大学机械工程学院,南宁市,530004

收稿日期:2020-12-04 修回日期:2021-09-16 出版日期:2021-11-15 发布日期:2021-11-15
通讯作者: 陆静平,男,1966年生,广西南宁人,博士,副教授;研究方向为农业机械,农机智能装置。E-mail: jingpinglu@163.com
作者简介:董哲,男,1997年生,湖北十堰人,硕士研究生;研究方向为深度学习在甘蔗收获的应用。E-mail: dongzhewanlin@163.com
基金资助:
*国家自然资金项目(2019E050101)

Design and simulation of knife plate simulation system of sugarcane harvester based on fuzzy PID control

Dong Zhe, Lu Jingping

School of Mechanical Engineering, Guangxi University, Nanning, 530004, China

Received:2020-12-04 Revised:2021-09-16 Online:2021-11-15 Published:2021-11-15

摘要/Abstract

摘要： 我国南方甘蔗种植地大多为丘陵、山地,地形复杂,甘蔗收割机在田间作业时,造成甘蔗宿根切割质量差。刀盘在竖直方向上能否较好地实现仿形直接影响甘蔗宿根的切割质量和刀具的寿命,在现有的甘蔗收割机中均未能很好的实现刀盘仿形。针对这一现象,设计一种基于模糊PID控制的刀盘仿形系统。该系统采用超声波用于测距,选定测距装置的位置,设计基于AT89C52单片机的控制系统,采用电液比例方向阀对液压缸进行控制,并提出一种基于模糊控制的PID算法,对液压缸的运动进行优化并进行仿真。仿真结果表明,相较于传统的PID控制,模糊PID控制超调量仅仅为6%,刀盘位移时间仅需0.15 s,之后系统便趋于稳定。

关键词: 甘蔗收割机, 刀盘仿形, 高度检测, 模糊PID控制

Abstract: Most sugarcane planting areas in southern China are hilly and mountainous areas with complex terrain. When sugarcane harvesters operate in the field, the cutting quality of sugarcane perennial roots is poor. Whether the cutter head can better realize profiling in the vertical direction directly affects the cutting quality of sugarcane roots and the service life of the cutter. The cutter head profiling cannot be well realized in the existing sugarcane harvesters. In view of this problem, a set of cutter head profiling systems is designed. Ultrasonic is used for ranging, the position of the ranging device is selected, the control system based on AT89C52 single-chip microcomputer is designed, the electro-hydraulic proportional directional valve is used to control the hydraulic cylinder, PID algorithm based on fuzzy control is proposed, and the motion of the hydraulic cylinder is optimized and simulated. The simulation results show that compared with the traditional PID control, the overshoot of fuzzy PID control is only 6%, and the cutter head displacement time is only 0.15 s, then the system tends to be stable.

Key words: sugarcane harvesters, knife plate copying, height detection, fuzzy PID control

中图分类号:

S225.5⁺3

董哲, 陆静平. 基于模糊PID控制的甘蔗收割机刀盘仿形系统设计及仿真^*[J]. 中国农机化学报, 2021, 42(11): 12-16.

Dong Zhe, Lu Jingping. Design and simulation of knife plate simulation system of sugarcane harvester based on fuzzy PID control[J]. Journal of Chinese Agricultural Mechanization, 2021, 42(11): 12-16.

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基于模糊PID控制的甘蔗收割机刀盘仿形系统设计及仿真^*

Design and simulation of knife plate simulation system of sugarcane harvester based on fuzzy PID control

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