基于水田滚动阻力变化率辨识和模糊PI控制的水稻插秧机速度-滑转率联合控制算法

Joint Speed-Slip Ratio Control Algorithm for Rice Transplanters Based on Paddy Field Rolling Resistance Variation Rate Identification and Fuzzy PI Control

摘要:

水稻插秧机作业时驱动轮滑转率及其稳定性影响水稻插植株距精度，进而影响水稻产量。本文提出一种基于水田滚动阻力变化率辨识和模糊PI控制的水稻插秧机速度-滑转率联合控制算法。通过卡尔曼滤波对插秧机驱动轮滚动阻力变化率进行辨识；基于模糊PI控制对速度和滑转率进行联合控制，根据驱动轮滚动阻力变化率、速度误差、滑转率误差对控制律增益系数进行实时调整。水田试验结果表明，当期望速度为1m/s时，本文算法控制下插秧机滑转率均值为0.122，标准差为0.039；相较无滑转率控制时，滑转率均值降低39.3%，标准差降低61.7%；相较基于控制律增益系数固定的PI控制的速度-滑转率联合控制算法，滑转率均值降低12.8%，标准差降低45.1%。当期望速度为1m/s时，本文算法控制下速度绝对误差均值为0.072m/s，相较无滑转率控制时，降低53.5%，相较基于控制律增益系数固定的PI控制的速度-滑转率联合控制算法，降低47.1%。所提出算法可以有效提升水稻插植精度与质量。

Abstract:

The slip ratio of the drive wheels during rice transplanter operations affects the precision of planting spacing and subsequently impacts rice yield. Therefore, a joint speed-slip ratio control method was proposed based on paddy field rolling resistance variation rate identification and fuzzy PI control. Firstly, Kalman filter was used to estimate the variation rate of rolling resistance of the transplanter’s drive wheel, which reflected the fluctuation intensity of the paddy field condition parameters. Subsequently, fuzzy PI control was used for joint speed-slip ratio control, where the fuzzy rules adjusted the control law gain coefficients in real-time based on the rolling resistance variation rate, speed error, and slip ratio error. Field test results indicated that, with a target speed of 1m/s, the proposed controller achieved a mean slip ratio of 0.122 with a variance of 0.039, compared with the case without slip ratio control, the mean slip ratio was decreased by 39.3%, the variance of slip ratio was decreased by 61.7%, and compared with the fixed-control-law-gain-coefficients speed-slip ratio joint controller, the proposed method reduced the mean slip ratio by 12.8%, the variance of the slip ratio by 45.1%;in terms of speed control, when the desired speed was 1m/s, the proposed algorithm resulted in an absolute speed error mean of 0.072m/s, compared with the case without slip ratio control, it represented a 53.5% reduction, and compared with the fixed-control-law-gain-coefficients speed-slip ratio joint controller, it represented a 47.1% reduction. The proposed joint speed-slip ratio control method demonstrated significant improvements in reducing and stabilising the slip ratio of the transplanter’s drive wheels, showing effectiveness and strong robustness.