| 摘要: |
| 【目的】研究花生收获机挖掘深度的模糊控制策略，实现花生收获机挖掘深度的自动控制，降低机具手的工作强度。【方法】采用超声波测距方法，研制地面仿形装置，设计模糊PID控制器模拟花生收获机挖掘深度模糊PID控制仿真曲线，编写控制软件并利用片上调试仿真器QB MINI2（MINICUBE）将程序烧录到控制器中，建立花生收获机挖掘深度的模糊控制策略，然后将整套系统搭建在4HLB-2型花生联合收获机上，在田间用示波器跟踪随地面起伏响应的电压波形，进行自动限深的萝卜、甘薯收获试验，并与人工手动机械收获的伤果率、漏挖率、平均挖掘深度进行比较。【结果】萝卜、甘薯收获试验表明:手动收获萝卜的平均挖掘深度为12.5 cm，伤果率为5.71%，漏挖率为2.82%，自动限深收获的平均挖掘深度为12.3 cm，伤果率为3.40%，漏挖率为1.10%。手动收获甘薯的平均挖掘深度为15.3 cm，伤果率为3.00%，漏挖率为1.38%，自动限深收获时的平均挖掘深度为14.8 cm，伤果率为1.95%，漏挖率为1.08%。示波器显示，采用模糊PID控制，当收获速度为0.33 m/s时，最大延时小于0.4 s，超调量小于10%，试验误差控制在1.3 cm之内，挖掘深度比较均匀。【结论】采用设计的PID挖掘深度模糊控制，可以实现花生收获机挖掘深度的自动控制。 |
| 关键词: 农业机械 花生收获机 挖掘深度 模糊控制 自动控制 |
| DOI： |
| 分类号: |
| 基金项目:国家科技支撑计划项目“经济作物农机农艺关键技术集成研究与示范”（2013BAD08B02-03）；国家花生产业技术体系机械化装备岗位（CARS-14-机械化装备） |
|
| Fuzzy control on digging depth of 4HLB-2 peanut harvester |
|
YOU Zhao-yan,WU Hui-chang,HU Zhi-chao,et al
|
| Abstract: |
| 【Objective】A fuzzy control method for digging depth of peanut harvester was studied to provide support for the automatic control on digging depth of peanut harvester and reduce labor intensity.【Method】Ultrasonic distance measurement was adopted and a ground-contact copying mechanism was manufactured to design a fuzzy PID controller and simulation curve was obtained.A control software was programmed and burned into the controller using on-chip debugging emulator QB-MINI2 (MINICUBE) to established fuzzy control method of depth-control for peanut harvester.Then the whole system was grafted on 4HLB-2 peanut harvester and voltage waveform along with undulation of the ground was followed by oscilloscope in the field to conducted auto depth control harvest test of radish and sweet potato.Rate of damage,rate of un-harvested and average digging depth were compared with manual depth control as well.【Result】Radish and sweet potato harvest test showed that average digging depth of radish by manual harvest was 12.5 cm,rate of damaged was 5.71%,and rate of un-harvested was 2.82%,while the average digging depth by auto depth-control was 12.3 cm,rate of damaged was 3.40%,and rate of un-harvested was 1.10%.Average digging depth of sweet potato by manual harvest was 15.3 cm,rate of damaged was 3.00%,and rate of un-harvested was 1.38%,while average digging depth by auto depth-control was 14.8 cm,rate of damaged was 1.95%,and rate of un-harvested was 1.08%.Oscilloscope displayed that harvest rate was 0.33 m/s,the most delay time was 0.4 s,the overshoot was less than 10%,experiment error was within 1.3 cm,and the depth was even when fuzzy PID control was used.【Conclusion】The designed PID fuzzy control on digging depth realized the auto depth-control of peanut harvester. |
| Key words: agricultural machinery peanut harvester digging depth fuzzy control auto control |
