摘要
耕深均匀性是拖拉机作业过程中一个重要的衡量指标,为此提出了一种耕深均匀性的拖拉机电子液压悬挂系统的控制方法。首先介绍了该系统的结构组成及耕深控制原理,然后建立了系统的物理模型,并分析了耕深值和提升臂转角存在的关系,以便利用提升臂转角来间接测量实际的耕深值。以设定的耕深值为输入,实际耕深值为负反馈,采用PID控制算法对该系统的耕深控制过程进行了仿真分析,实现了在线校正实际耕深与设定值的偏差。最后,通过田间试验分别验证了156mm耕深值和200mm耕深值的控制过程,证明了该控制方法的可行性。结果表明:提出的控制方法能够保证耕作过程中耕深的均匀性,也大大降低了驾驶员的操作强度。
As the tillage depth uniformity is an important measure in the process of tractor＇ s work, a control method of tractor＇s electronic hydraulic hitch system with tillage depth uniformity is proposed. Firstly, the system structure and depth control principle are introduced. Secondly, a physical model of the system is established, and the relationship be- tween the lifting arm angle and tillage depth is analyzed, thereby lifting arm angle is used to indirectly measure actual depth value. PID control algorithm for the system of the depth control process is simulated and analyzed. The tillage depth value is set as an input, actual depth value is negative feedback, and the correction of actual deviation with the set value of deep tillage is implemented online. Finally, the field testverifies the 156mm and 200mm depth value of the deep tillage control process, and proves the feasibility of the control method. The results show that the proposed control method can ensure uniformity of the process of cultivating deep tillage, and also reduce the intensity of the driver＇s operation.
出处
《农机化研究》
北大核心
2017年第8期237-241,共5页
Journal of Agricultural Mechanization Research
基金
国家自然科学基金项目(51175173)
湖南省农业机械管理局企业创新项目(2014-3)
关键词
拖拉机
电液悬挂系统
耕深均匀性
PID控制
tractor
electronic-control hydraulic hitch system
tillage depth uniformity
PID control
