基于模糊PID的旋耕机组水平控制系统设计

发布时间：2018-06-04 22:55

本文选题：数学模型 + 油缸　；参考：《浙江理工大学》2017年硕士论文

【摘要】：随着农村的改革和集约化生产,田块的面积变大,种植机械的作业幅宽也在增大。大型农机进入了农业生产,传统的小型拖拉机旋耕机组由于整地后土地不够平整,已经不能适应宽幅作业的播种机和插秧机作业。为此,本文开展了拖拉机旋耕机组水平自动控制系统的研究,针对目前该控制系统对田块的适应性较差等问题,从硬件和软件两方面,对拖拉机旋耕机组液压水平自动控制系统进行了设计,主要研究内容和成果如下:(1)在研究国内外液压水平自动控制系统技术发展的基础上,结合目前我国拖拉机旋耕机组的工作特点,研究了拖拉机旋耕机组液压水平自动控制系的基本原理,提出了本课题的研究内容;(2)结合拖拉机三点悬挂机构的工作特点,对双油缸和单油缸水平自动控制方案进行了分析,设计了一种新型油缸活塞杆位置传感器,对液压系统的油路进行了设计;(3)从提高拖拉机旋耕机组液压水平自动控制系的可靠性和适应性两个方面,设计了水平自动控制装置的电气控制系统,优选了传感器等电气元件;根据设计的控制原理,完成了PCB板的制作和线路板的焊接,以及控制器的制作工作。(4)研究了水平自动控制系统各模块的工作原理,建立了水平自动控制系统的数学模型;提出了采用模糊PID控制算法来实现自动调平,并在MATLAB中搭建仿真模型进行理论分析。(5)研发了室内模拟实验台,进行了系统的水平控制实验,证明系统的可行性;田间试验证明,本文研发的基于模糊PID的拖拉机旋耕机组液压水平自动控制系统对田块的适应性好,可靠性得到提高。
[Abstract]:With the reform and intensive production in the countryside, the area of field becomes larger and the working width of planting machine increases. Large-scale agricultural machinery has entered into agricultural production, the traditional small tractor rotary tiller group has been unable to adapt to the planter and transplanter operation because the land is not smooth enough after land preparation. Therefore, this paper has carried out the research on the level automatic control system of tractor rotary tiller group. Aiming at the problems of poor adaptability of the control system to the field block at present, the hardware and software are two aspects. The hydraulic level automatic control system of tractor rotary tiller group is designed. The main research contents and results are as follows: 1) on the basis of studying the technology development of hydraulic level automatic control system at home and abroad, According to the working characteristics of tractor rotary tiller group in China, the basic principle of hydraulic horizontal automatic control system of tractor rotary tiller group is studied, and the research content of this subject is put forward, which combines with the working characteristics of tractor three-point suspension mechanism. The horizontal automatic control scheme of double oil cylinder and single oil cylinder is analyzed, and a new type of piston rod position sensor for oil cylinder is designed. In order to improve the reliability and adaptability of the hydraulic horizontal automatic control system of tractor rotary tiller group, the electrical control system of the horizontal automatic control device is designed, and the electrical components such as sensors are selected. According to the control principle of the design, the manufacture of the PCB board and the welding of the circuit board, as well as the manufacture of the controller are completed. The working principle of each module of the horizontal automatic control system is studied, and the mathematical model of the horizontal automatic control system is established. The fuzzy PID control algorithm is used to realize automatic leveling, and the simulation model is built in MATLAB for theoretical analysis. The indoor simulation experiment bench is developed, and the system horizontal control experiment is carried out to prove the feasibility of the system, and the field experiment proves that the system is feasible. The hydraulic level automatic control system of tractor rotary tiller group based on fuzzy PID developed in this paper has good adaptability to field block and its reliability has been improved.
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：S222.3;TP273

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