自动补苗装置精准定位自适应模糊PID控制

发布时间：2018-01-28 02:39

本文关键词： 农业机械试验控制自动补苗定位控制　出处：《农业工程学报》2017年09期 　论文类型：期刊论文

【摘要】：为实现补苗装置精准定位控制,解决自动移栽作业过程中因穴盘缺苗和取苗投苗失败而导致的漏栽问题,采用自适应Fuzzy-PID控制算法来实现钵苗输送的步进定位控制。构建了步进电机角速度控制传递函数的数学模型,设计了自适应Fuzzy-PID控制器及其模糊规则,通过MATLAB的Simulink模块建立了基于模糊PID控制器的步进电机系统角速度控制模型,以阶跃信号作为激励信号,自适应模糊PID控制和PID控制的仿真试验表明:PID控制的响应时间为7 s,出现超调量为0.1的振荡,通过调整PID控制器参数增大比例系数,系统响应时间缩短为2.2 s,系统响应速度明显加快,且未出现振荡环节;自适应模糊PID的响应时间为0.12 s,步进电机系统快速到达阶跃响应的稳态值,步进电机角速度控制稳定,角速度响应快,满足钵苗输送的定位要求。自动补苗试验结果表明:在植苗频率为40、50与60株/min时,补苗成功率分别为100%,100%、95.8%,且只要光纤传感器检测到漏苗信号,基于自适应Fuzzy-PID控制的步进电机系统快速响应,补苗控制系统都能准确及时地进行自动补苗。该研究可为解决自动移栽机田间作业的漏栽问题提供参考。
[Abstract]:In order to realize the precise positioning control of the seeding device, the problem of missing seedlings caused by the lack of seedlings in the hole plate and the failure of seedling taking in the process of automatic transplanting was solved. Adaptive Fuzzy-PID control algorithm is used to realize step positioning control of seedling conveying. The mathematical model of angular velocity control transfer function of stepping motor is established. An adaptive Fuzzy-PID controller and its fuzzy rules are designed. The angular velocity control model of stepping motor system based on fuzzy PID controller is established by the Simulink module of MATLAB. The step signal is used as the excitation signal. The simulation results of adaptive fuzzy PID control and PID control show that the response time of the control is 7 s and the overshoot is 0.1. By adjusting the parameters of PID controller to increase the proportional coefficient, the response time of the system is shortened to 2.2 s, the response speed of the system is obviously accelerated, and there is no oscillating link. The response time of adaptive fuzzy PID is 0.12 s. The step motor system reaches the steady state of step response quickly. The angular velocity control of step motor is stable and the angular velocity response is fast. The results of automatic seeding experiment showed that the success rate of seedling filling was 100% when the seedling frequency was 40 ~ 50 and 60 / min respectively. And as long as the optical fiber sensor detects the leak signal, the stepper motor system based on adaptive Fuzzy-PID control can respond quickly. This study can provide a reference for solving the problem of leakage in field operation of automatic transplanting machine.
【作者单位】：石河子大学机械电气工程学院;重庆大学机械传动国家重点实验室;新疆天业股份有限公司;石河子大学理学院;
【基金】：国家自然科学基金资助项目(51565048) 重庆大学国家机械传动重点实验室开放课题(SKLMT-KFKT-201516)
【分类号】：S223;TP273
【正文快照】： ^ " 穴盘苗自动移栽机取苗方式主要有2种:一是通过取苗针从穴盘中夹取出钵苗,并投入到栽植器中;另一种是通过顶杆顶出钵苗,并将钵苗输送到栽植器中。这2种取苗方式都会存在移栽漏苗现象,主要是因为:1)育苗穴盘穴格本身缺苗造成空取苗现象;2)取苗过程中取苗夹片夹碎钵体,无法将

【相似文献】