基于FSMC-Kalman的带式高速导种装置控制系统研究

Belt-type High-speed Seed Guide Device Control System Based on FSMC-Kalman

摘要:

为解决带式高速导种装置导种过程中导种电机与排种器驱动电机转速同步率低、稳定性差，造成播种株距变异系数升高,播种均匀度差的问题，提出一种基于模糊滑模卡尔曼（Fuzzy sliding mode control-Kalman,FSMC-Kalman）算法的带式高速导种装置控制系统。通过对系统运动过程分析建立了排种电机、导种电机与作业速度的关系，为研究系统控制策略，对两个电机建立了数学模型。提出的FSMC-Kalman算法利用模糊算法动态整定滑模控制器中的逼近系数与速率系数，并在反馈环节加入卡尔曼滤波算法，从而增强控制系统的鲁棒性与自适应能力。仿真试验表明：基于FSMC-Kalman算法的导种电机转速无超调，调节时间为0.22s，稳态误差为4.68r/min；基于FSMC-Kalman算法的排种电机转速也无超调，调节时间为0.23s，稳态误差为1.96r/min。台架试验表明：FSMC-Kalman算法4种作业速度的平均合格株距变异系数为7.98%。FSMC-Kalman算法相较于SMC算法平均合格株距变异系数降低4.67个百分点，相较于FSMC算法平均合格株距变异系数降低3.36个百分点，相较于SMC-Kalman算法平均合格株距变异系数降低2.06个百分点。基于FSMC-Kalman的带式高速导种装置控制系统能够使导种电机与排种器驱动电机高同步率稳定工作，从而提高播种均匀度。

Abstract:

In order to solve the problem of low synchronization rate and poor stability of the speed of the driving motor and the belt high-speed guide device, which results in the increase of seeding distance coefficient and poor sowing uniformity, a control system of belt highspeed guide device based on fuzzy sliding mode control-Kalman (FSMC-Kalman) algorithm was studied. Through the analysis of the system movement process, the relationship between the train and guide motors and the operation speed was established to establish the mathematical model of the two motors. The proposed FSMC-Kalman algorithm used the approximation coefficient and rate coefficient in the fuzzy algorithm, and added the Kalman filter algorithm in the feedback link, so as to enhance the robustness and adaptability of the control system. The simulation test showed that the speed of guide motor based on FSMC-Kalman algorithm had no overshoot, the adjustment time was 0.22s, and the steady state error was 4.68r/min;the speed of type motor based on FSMC-Kalman algorithm had no overshoot, the adjustment time was 0.23s, and the steady state error was 1.96r/min. The bench test showed that the average qualified plant spacing coefficient of variation of the four operation speeds of FSMC-Kalman algorithm was 7.98%. The FSMC-Kalman algorithm reduced the average coefficient of variation by 4.67 percentage points, which was 3.36 percentage points lower than that of the FSMC algorithm, and 2.06 percentage points lower than the average coefficient of variation of the SMC-Kalman algorithm. The control system of belt high-speed guide device based on FSMC-Kalman can make the guide motor and the seed type drive motor work stably with high synchronization rate, thus improving the sowing uniformity.