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

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