Abstract: Aiming at the problem that the transplanting effect of the transplanting machine body is poor due to the incline of the transplanting machine body in hilly and mountainous areas, an automatic leveling control system of the transplanting machine body is designed, which is composed of a state measurement unit, a singlechip embedded system and an electric drive system. First, considering the advantages and disadvantages of position error leveling and angle error leveling, a multisensor coupling leveling strategy is proposed. Secondly, the fuzzy PID controller is used to control the electric push rod in the actuator, and the Kalman filter is used to filter out the engine vibration interference from the transplanter chassis. Then, the fuzzy PID controller and Kalman filter designed are simulated and analyzed by MATLAB/Simulink. The simulation results show that under the same initial parameters, fuzzy PID control has better control performance than traditional PID control. The system adjustment time is reduced by 62.86%, the rise time is reduced by 47.64%, the peak time is reduced by 45.54%, and the maximum overshoot is reduced by 12.23%. Kalman filter can effectively suppress interference and jitter signals. Finally, the static and dynamic tests are carried out for the automatic leveling control system of the car body. The test results show that the adjustment time of the automatic leveling system is less than 3.5 s and the maximum leveling error is less than 0.5° when the vehicle body tilt angle is within -8°~8°. When the transplanter is running at a speed of 3.6km/h, the vehicle body tilt angle is controlled within ±3° under the road with large undulation, and the vehicle body tilt angle under the road with small undulation is basically maintained at 0°. The leveling speed is fast and the effect is good, which is of great significance to improve the transplanters transplanting effect.

Key words: transplanting machine, automatic control, leveling system, Kalman filter, fuzzy PID

摘要： 针对丘陵山地移栽机车身在移栽时容易发生倾斜导致移栽效果差的问题，设计一种由状态测量单元、单片机嵌入式系统、电动传动系统组成的移栽机车身自动调平控制系统。首先，综合考虑位置误差调平和角度误差调平优劣势，提出一种多传感器耦合调平策略。其次，采用模糊PID控制器对执行机构中的电动推杆进行控制，并利用卡尔曼滤波器滤除移栽机底盘所受到的发动机振动干扰。然后，通过MATLAB/Simulink对所设计的模糊PID控制器及卡尔曼滤波器进行仿真分析。仿真结果表明，在相同初始参数条件下，模糊PID控制相较于传统PID具有更好的控制性能，系统调节时间缩短62.86%，上升时间缩短47.64%，峰值时间缩短45.54%，最大超调量减少12.23%。卡尔曼滤波器能有效抑制干扰和抖动信号。最后，对车身自动调平控制系统进行静态试验和动态试验。试验结果表明，当车身倾斜角在-8°~8°范围内时，该自动调平系统的调节时间小于3.5s，最大调平误差小于0.5°。当移栽机以3.6km/h的速度行驶时，在起伏较大的路面下车身倾斜角控制在±3°以内，起伏较小的路面下车身倾斜角基本维持在0°，调平速度较快，效果较好，对提高移栽机的移栽效果具有重要意义。

关键词: 移栽机, 自动控制, 调平系统, 卡尔曼滤波, 模糊PID