摘要
通过对基于力位综合调节的开关切换法和加权系数法两种耕深控制方法进行研究,建立了拖拉机电液悬挂系统力位综合调节数学模型,设计了耕深模糊控制器,并运用Matlab/simulink对其建模仿真。结果表明,开关切换法和加权系数法在耕深控制过程中都没有超调量,耕深稳态误差小于5%,且响应时间在1 s以内,具有较好的响应特性。当受到4000 N的干扰信号时,开关切换法与加权系数均能在1 s以内到达新的稳态,两者耕深减小量均小于40 mm。并且中耕时开关切换法的耕深减小量大于加权系数法;而浅耕时对开关切换法来说,阻力的变化对耕深没有影响。因此,对系统要求不高时可以选用开关切换法作为力位综合调节方式,但加权系数法具有更长远的研究与应用意义。研究结果为电液悬挂系统力位综合调节模糊控制技术的进一步研究及实际应用提供了理论基础。
Switch and coefficient were respectively brought forward for tractor＇ s force-position combined control based on fuzzy control in this article. Firstly, mathematical models for the tractor electronic hydraulic hitch control system were built. Then the fuzzy controllers were designed. At last the computer simulation models were set up by using Matlab/simulink and the effect of resistance on depth in the two different models was studied through simulation. The results showed that the performance of the force-position adjustment with switch and the force-position adjustment with weighted coefficient were both good in responsiveness. They both had no overshoot, fast response and small steady-state error. When the resistance interference signal was 4000 N, the control method of switch and the control method of coefficient both reached the new steady state, in which tilling depths reduction less than 40 mm, in less than 1 second. Meanwhile, there were no changes in tilling depths to the force-position adjustment with switch in shallow ploughing, and the tilling depths reduction of the force-position adjustment with switch was larger than that of the force-position adjustment with weighted coefficient in intertillage. As a result, the force-position adjustment with switch was simpler and was a priority for use if the requirement was not very high. But the force-position adjustment with weighted coefficient would make a significant sense to study and application in the future. The paper provided a theoretical basis for the controller design of the tractor＇s electro-hydraulic lift hitch system according to force-position combined control.
出处
《农业现代化研究》
CSCD
北大核心
2014年第6期825-829,共5页
Research of Agricultural Modernization
基金
江苏省产学研联合创新资金-前瞻性联合研究项目(BY2012170)
关键词
电液悬挂
力位综合调节
模糊控制
拖拉机
仿真
electronic hydraulic hitch
force-position regulation
fuzzy control
tractor
simulation
