马铃薯捡拾装置作业参数模糊PID自调节系统研究

Fuzzy PID Self Adjusting System for Operation Parameters of Potato Picking Device

摘要:

针对安装在自走式马铃薯捡拾装袋机上的马铃薯捡拾装置作业时，前方易壅土导致薯土混合物输送不畅，因此驾驶员需频繁手动调节捡拾铲入土深度，易出现误判而造成整机伤薯率、漏薯率和含杂率关键作业指标达不到作业要求的问题，研究了一种马铃薯捡拾装置作业参数自调节系统。在装置作业过程中，根据超声波传感器实时测量的壅土高度，通过液压驱动无级调节捡拾铲入土深度、输送链线速度以及薯土分离振动强度，达到较优的作业质量。基于DEM-MBD耦合仿真对捡拾装置不同作业参数组合下的作业质量进行仿真研究，明确了作业参数影响作业质量的一般规律。基于该规律，设计了作业参数自调节方法。根据装置作业参数的控制需求，基于AMESim-Matlab/Simulink开展电液控制系统仿真研究，对比了模糊PID与经典PID的控制效果，仿真结果表明，模糊PID控制较经典PID控制在阀控缸系统和阀控马达系统的响应速度均有所提高。最终将使用该模糊PID控制的作业参数自调节系统搭载在捡拾装置上开展田间试验，试验结果表明搭载作业参数自调节系统的捡拾装置作业时的漏薯率为2.17%、伤薯率为2.51%、含杂率为1.64%，各项指标均满足作业要求且优于手动控制，验证了搭载作业参数自调节系统的马铃薯捡拾装置较手动控制的优越性。

Abstract:

In response to the problem that the potato picking device installed on a self-propelled potato picking and bagging machine is prone to soil accumulation in the front, resulting in poor transportation of the potato soil mixture. Therefore, the driver needs to frequently manually adjust the depth of the picking shovel into the soil, which can easily lead to misjudgment and result in the failure of the key operation indicators of the whole machine’s potato damage rate, leakage rate, and impurity rate to meet the operation requirements. A potato picking device operation parameter self adjustment system was studied. During the operation of the device, based on the real-time measurement of the height of the soil accumulation by ultrasonic sensors, the depth of the picking shovel entering the soil, the linear speed of the conveying chain, and the vibration intensity of the potato soil separation were continuously adjusted through hydraulic drive to achieve optimal operation quality. Based on DEM-MBD coupling simulation, the simulation was conducted on the operational quality of the picking device under different combinations of operational parameters, clarifying the general law of the impact of operational parameters on operational quality. Based on this law, a self adjustment method for homework parameters was designed. Based on the control requirements of device operation parameters, a simulation of electro-hydraulic control system was conducted by using AMESim-Matlab/Simulink. The control effects of fuzzy PID and classical PID were compared, and the simulation results showed that fuzzy PID control improved the response speed of valve-controlled cylinder system and valve-controlled motor system compared to classical PID control. The field experiment was carried out by using the fuzzy PID control operation parameter self adjustment system on the picking device. The test results showed that the picking device equipped with the operation parameter self adjustment system had a potato leakage rate of 2.17%, a damaged potato rate of 2.51%, and a impurity rate of 1.64% during operation. All indicators met the operational requirements and were superior to manual control, verifying the superiority of the potato picking device equipped with a self adjusting system for operational parameters over manual control.