| 摘要: |
| 【目的】针对柠条智能化收获过程中存在的问题，研究柠条收获机留茬高度和漏割率的控制方法。【方法】根据柠条平茬农艺要求建立智能柠条收获机运动学模型，然后基于自适应模糊控制理论，结合遗传算法优选技术研究轨迹控制方法，并在Matlab/fuzzy平台上设计模糊控制器，对智能柠条收获机转向角度和评价函数收敛性进行仿真分析。依据割台结构及预先作用概念，在Matlab/Simulink和Adams软件中搭建割台控制算法仿真平台，对割台高度跟踪sin函数和矩形波函数的准确性进行分析。【结果】基于自适应模糊控制系统调整后的智能柠条收获机输出转角波动控制在－5°~5°，评价函数快速收敛；采用预先作用的方式进行割台高度控制，割台高度跟踪sin函数和矩形波函数效果良好，超调量较小。仿真结果符合柠条平茬农艺要求，漏割率明显降低，留茬高度控制精确，控制效果得到提高。【结论】智能柠条收获机轨迹及割台控制系统稳定可靠、适应性良好，可以实现柠条智能收获过程中重要农艺参数的自适应控制。 |
| 关键词: 农业机械 智能柠条收获机 模糊控制 遗传算法 联合仿真 |
| DOI： |
| 分类号: |
| 基金项目:宁夏大学创新项目（GIP2017019）；宁夏回族自治区西部一流学科建设项目（机械工程） |
|
| Control method of harvest agronomic parameters of intelligent caragana harvester |
|
ZHANG Chengbin,SHANG Xin,WU Yuanyuan，et al
|
| Abstract: |
| 【Objective】Aiming at the problems in the intelligent harvesting process of Caragana microphylla,the control method of stubble height and cutting rate of caragana harvester was investigated.【Method】According to the requirements of agronomy of Caragana microphylla,a kinematics model of intelligent caragana harvester was established and the trajectory control method was developed based on the adaptive fuzzy control theory and the genetic algorithm.Then,the fuzzy controller on the Matlab/fuzzy platform was designed to analyze the turning angle of the harvester and the convergence of the evaluation function.According to the concept of cutting table structure and pretreatment,the simulation platform of cutting platform control algorithm was built using Matlab/Simulink and Adams software,and the accuracy of sin function and rectangular wave tracking the cutting table height was analyzed.【Result】The harvesting machine output angle fluctuation after adjustment by the adaptive fuzzy control system was controlled within -5 °- 5 ° and the evaluation function converged fast.Using pretreatment to control the cut table height,cutting table height tracking by sin function and rectangular wave effect was good with small overshoot.The simulation results met the agronomic requirements of Caragana microphylla,and the cutting rate was significantly reduced.The stubble height control was accurate and the control effect was improved.【Conclusion】The trajectory and cutting table control system of intelligent caragana harvester was stable and reliable with good adaptability,and can realize the adaptive control of important agronomic parameters during harvest process. |
| Key words: agricultural machinery intelligent caragana harvester fuzzy control genetic algorithm joint simulation |
