本文關(guān)鍵詞： 農(nóng)業(yè)機(jī)械 試驗(yàn) 控制 自動(dòng)補(bǔ)苗 定位控制　出處：《農(nóng)業(yè)工程學(xué)報(bào)》2017年09期 　論文類型：期刊論文

【摘要】：為實(shí)現(xiàn)補(bǔ)苗裝置精準(zhǔn)定位控制,解決自動(dòng)移栽作業(yè)過(guò)程中因穴盤缺苗和取苗投苗失敗而導(dǎo)致的漏栽問(wèn)題,采用自適應(yīng)Fuzzy-PID控制算法來(lái)實(shí)現(xiàn)缽苗輸送的步進(jìn)定位控制。構(gòu)建了步進(jìn)電機(jī)角速度控制傳遞函數(shù)的數(shù)學(xué)模型,設(shè)計(jì)了自適應(yīng)Fuzzy-PID控制器及其模糊規(guī)則,通過(guò)MATLAB的Simulink模塊建立了基于模糊PID控制器的步進(jìn)電機(jī)系統(tǒng)角速度控制模型,以階躍信號(hào)作為激勵(lì)信號(hào),自適應(yīng)模糊PID控制和PID控制的仿真試驗(yàn)表明:PID控制的響應(yīng)時(shí)間為7 s,出現(xiàn)超調(diào)量為0.1的振蕩,通過(guò)調(diào)整PID控制器參數(shù)增大比例系數(shù),系統(tǒng)響應(yīng)時(shí)間縮短為2.2 s,系統(tǒng)響應(yīng)速度明顯加快,且未出現(xiàn)振蕩環(huán)節(jié);自適應(yīng)模糊PID的響應(yīng)時(shí)間為0.12 s,步進(jìn)電機(jī)系統(tǒng)快速到達(dá)階躍響應(yīng)的穩(wěn)態(tài)值,步進(jìn)電機(jī)角速度控制穩(wěn)定,角速度響應(yīng)快,滿足缽苗輸送的定位要求。自動(dòng)補(bǔ)苗試驗(yàn)結(jié)果表明:在植苗頻率為40、50與60株/min時(shí),補(bǔ)苗成功率分別為100%,100%、95.8%,且只要光纖傳感器檢測(cè)到漏苗信號(hào),基于自適應(yīng)Fuzzy-PID控制的步進(jìn)電機(jī)系統(tǒng)快速響應(yīng),補(bǔ)苗控制系統(tǒng)都能準(zhǔn)確及時(shí)地進(jìn)行自動(dòng)補(bǔ)苗。該研究可為解決自動(dòng)移栽機(jī)田間作業(yè)的漏栽問(wèn)題提供參考。
[Abstract]:In order to realize the precise positioning control of the seeding device, the problem of missing seedlings caused by the lack of seedlings in the hole plate and the failure of seedling taking in the process of automatic transplanting was solved. Adaptive Fuzzy-PID control algorithm is used to realize step positioning control of seedling conveying. The mathematical model of angular velocity control transfer function of stepping motor is established. An adaptive Fuzzy-PID controller and its fuzzy rules are designed. The angular velocity control model of stepping motor system based on fuzzy PID controller is established by the Simulink module of MATLAB. The step signal is used as the excitation signal. The simulation results of adaptive fuzzy PID control and PID control show that the response time of the control is 7 s and the overshoot is 0.1. By adjusting the parameters of PID controller to increase the proportional coefficient, the response time of the system is shortened to 2.2 s, the response speed of the system is obviously accelerated, and there is no oscillating link. The response time of adaptive fuzzy PID is 0.12 s. The step motor system reaches the steady state of step response quickly. The angular velocity control of step motor is stable and the angular velocity response is fast. The results of automatic seeding experiment showed that the success rate of seedling filling was 100% when the seedling frequency was 40 ~ 50 and 60 / min respectively. And as long as the optical fiber sensor detects the leak signal, the stepper motor system based on adaptive Fuzzy-PID control can respond quickly. This study can provide a reference for solving the problem of leakage in field operation of automatic transplanting machine.
【作者單位】： 石河子大學(xué)機(jī)械電氣工程學(xué)院;重慶大學(xué)機(jī)械傳動(dòng)國(guó)家重點(diǎn)實(shí)驗(yàn)室;新疆天業(yè)股份有限公司;石河子大學(xué)理學(xué)院;
【基金】：國(guó)家自然科學(xué)基金資助項(xiàng)目(51565048) 重慶大學(xué)國(guó)家機(jī)械傳動(dòng)重點(diǎn)實(shí)驗(yàn)室開放課題(SKLMT-KFKT-201516)
【分類號(hào)】：S223;TP273
【正文快照】： ^ " 穴盤苗自動(dòng)移栽機(jī)取苗方式主要有2種:一是通過(guò)取苗針從穴盤中夾取出缽苗,并投入到栽植器中;另一種是通過(guò)頂桿頂出缽苗,并將缽苗輸送到栽植器中。這2種取苗方式都會(huì)存在移栽漏苗現(xiàn)象,主要是因?yàn)?1)育苗穴盤穴格本身缺苗造成空取苗現(xiàn)象;2)取苗過(guò)程中取苗夾片夾碎缽體,無(wú)法將

【相似文獻(xiàn)】

相關(guān)期刊論文 前3條

1 侯庭瑞;楊勇;;步進(jìn)電機(jī)在木材機(jī)械吸濕蠕變測(cè)定儀中的應(yīng)用[J];硅谷;2014年08期

2 曾tD;楊楠;;節(jié)水排灌中的蒸發(fā)量測(cè)量關(guān)鍵技術(shù)研究[J];江西水利科技;2013年03期

3 ;[J];;年期

相關(guān)碩士學(xué)位論文 前4條

1 李少華;幼苗盤自動(dòng)立體取放裝置的研制[D];西北農(nóng)林科技大學(xué);2015年

2 姚陽(yáng)陽(yáng);基于PLC控制的藥液配比系統(tǒng)的設(shè)計(jì)與試驗(yàn)研究[D];塔里木大學(xué);2016年

3 王杰;波涌灌溉換向閥驅(qū)動(dòng)裝置設(shè)計(jì)及試驗(yàn)研究[D];山西農(nóng)業(yè)大學(xué);2016年

4 李巖磊;煙田智能打頂機(jī)的研制與試驗(yàn)[D];山東農(nóng)業(yè)大學(xué);2015年

，

本文編號(hào)：1469536