基于超螺旋滑模自抗扰的移栽机调平控制系统研究

Study of Leveling Control System for Transplanters Based on Super-twisting Sliding Mode Active Disturbance Rejection

摘要:

为提高移栽机在丘陵山地的作业适应性，提高坡地作业质量和工作稳定性，基于已开发的丘陵山地移栽机，提出了一种基于超螺旋滑模自抗扰的移栽机调平控制系统，可对沿等高线作业的移栽机整机进行实时横向水平控制。根据移栽机整体结构和调平控制原理建立伺服电缸控制数学模型，以描述和分析系统动态性能指标。在为移栽机整机调平提供驱动力的伺服电缸数学模型基础上设计超螺旋滑模自抗扰控制器，并结合所建立的被控系统对所设计超螺旋滑模自抗扰控制器进行李雅普诺夫稳定性分析。搭建Matlab/Simulink-ADAMS联合仿真平台，在静态工况下对比超螺旋滑模自抗扰(STSMC-ADRC)与经典PID控制算法、自抗扰控制（ARDC）性能，结果表明在静态调平时，ADRC控制的调平时间比PID缩短了约29.5%；而STSMC-ADRC策略相较于PID控制，调平时间缩短约46.3%。最后开展单边桥静态试验对比与实地动态试验对比，动态试验结果表明，STSMC-ADRC控制算法在0.2、0.3、0.4m/s试验中表现均为最佳，均方根误差分别为0.77°、1.94°和2.32°，优于ADRC和PID控制算法。

Abstract:

Aiming to enhance the operational adaptability of transplanters in hilly and mountainous terrain, as well as improve the quality and stability of their performance on slopes, a leveling control system based on super-twisting sliding mode active disturbance rejection control (STSMC-ADRC) was proposed for a previously developed transplanter. This system enabled real-time lateral leveling control of the transplanter operating along contour lines. A mathematical model of the servo-electric cylinder control was established according to the overall structure and leveling control principle of the transplanter to describe and analyze the dynamic performance indicators of the system. Based on the mathematical model of the servo-electric cylinder, which provided the driving force for leveling the transplanter, a super-twisting sliding mode active disturbance rejection controller was designed. Lyapunov stability analysis was conducted for the designed controller in combination with the established control system. A co-simulation platform using Matlab/Simulink and ADAMS was constructed to compare the performance of the proposed STSMC-ADRC with classical PID control and active disturbance rejection control (ADRC) under static conditions. The results indicated that under static leveling conditions, the leveling time with ADRC was approximately 29.5% shorter than that with PID control, while the STSMC-ADRC strategy reduced the leveling time by approximately 46.3% compared with PID control. Finally, static single-side bridge tests and field dynamic tests were conducted. The dynamic test results demonstrated that the STSMC-ADRC control algorithm performed the best in experiments conducted at speeds of 0.2m/s, 0.3m/s, and 0.4m/s, with root mean square errors of 0.77°, 1.94°, and 2.32°, respectively, outperforming both ADRC and PID control algorithms.