农用拖拉机电液悬挂牵伸位置综合控制的微分积分滑模自适应控制算法

IF 0.6 Q4 AGRICULTURAL ENGINEERING INMATEH-Agricultural Engineering Pub Date : 2023-08-17 DOI:10.35633/inmateh-70-36
Changqing Liu, Jinheng Gu, Xin Du, Chengwen Liu, Yuefeng Du, Enrong Mao
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引用次数: 0

摘要

拖拉机翻耕精度是保证农作物质量的重要环节。犁耕牵引力位置综合控制是一种有效的犁耕精度控制技术,可用于提高拖拉机的犁耕效率。拖拉机挂接装置的液压系统具有负载大、工作环境复杂的特点。针对具有强非线性、不确定性和时变参数的拖拉机挂接装置液压系统,设计了一种微分积分滑模自适应控制器。与电液悬挂装置控制系统中的传统PID控制器、积分滑模自适应控制器(I-SMAC)和微分积分滑模自适应控制(DI-SMAC)进行了比较,数值仿真验证了微分积分自适应控制器的优点。搭建了农用拖拉机的真实试验平台。试验结果表明,DI-SMAC可以实现吃水位置的综合控制功能。在位置控制模式下,无静态误差,抗干扰能力强;在牵引力控制模式下,与传统PID控制器相比,微分和积分滑模控制器的牵引力误差范围减小了32.9%,标准偏差减小了38.6%;当重量系数改变时,不同重量系数的牵引力和耕作深度波动不同。结果表明,该方法稳定有效,有望为拖拉机精耕作业提供技术支持。
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DIFFERENTIAL AND INTEGRAL SLIDING MODE ADAPTIVE CONTROL ALGORITHM FOR DRAFT AND POSITION INTEGRATED CONTROL OF ELECTRO-HYDRAULIC HITCH IN AGRICULTURAL TRACTOR
The accuracy of tractor plowing is an important link to ensure the quality of agricultural crops. The integrated control of draft-position in plowing is an effective plowing precision control technology which can be used to improve the tractor's plowing efficiency. The hydraulic system of the tractor hitch has the characteristics of large load and complex working environment. A differential and integral sliding mode adaptive controller (DISMAC) is designed for the tractor hitch hydraulic system with strong nonlinearity, uncertainty and time-varying parameters. Compared with the traditional PID controller, integral sliding mode adaptive controller(I-SMAC) and differential and integral sliding mode adaptive controller (DI-SMAC) in the electro-hydraulic hitch control system, the numerical simulation verifies the advantages of the differential and integral sliding mode adaptive controller. The real test platform of the agricultural tractor is built. The test results show that the DI-SMAC can realize the integrated control function of draft-position. In the position control mode, there is no static error, and the anti-interference ability is strong; Under the draft control mode, compared with the traditional PID controller, the range of traction error of differential and integral sliding mode controller is reduced by 32.9%, and the standard deviation is reduced by 38.6%; When the weight coefficient is changed, the traction force and tillage depth fluctuation are different with different weight coefficients. It is shown that the DI-SMAC is stable and effective, and the developed method is expected to provide technical support for the fine plowing operation of tractors.
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来源期刊
INMATEH-Agricultural Engineering
INMATEH-Agricultural Engineering AGRICULTURAL ENGINEERING-
CiteScore
1.30
自引率
57.10%
发文量
98
期刊最新文献
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