玉米收获机低损脱粒智能控制系统半实物仿真平台设计

Design of Hardware in Loop Simulation Platform for Intelligent Control System of Corn Kernel Harvester

针对玉米籽粒收获机低损脱粒智能控制系统开发受场地和季节影响较大的问题,设计了一套低损脱粒智能控制系统半实物仿真平台。该仿真平台由仿真平台控制器、操作面板、演示面板、扶手箱、显示器和上位机组成。分析了玉米籽粒收获机低损脱粒智能控制系统的组成和收获控制器的测试需求,建立了玉米籽粒收获机关键作业参数调节过程的数学模型,基于STM32F407型单片机搭建了硬件在环仿真测试系统,并完成了试验台设计。进行了仿真平台和玉米籽粒收获机在空载条件下的作业参数调节开环对照试验,其中,滚筒转速仿真误差的数学期望为0.126 r/min,标准差为0.776 r/min;作业速度仿真误差的数学期望为-0.022 km/h,标准差为0.094 km/h;凹板间隙仿真误差的数学期望为0.041 mm,标准差为0.147 mm,验证了仿真平台对执行机构调节过程模拟的有效性。进行了信号模拟测试和收获控制器自动控制策略仿真测试,结果证明了仿真平台可用于玉米籽粒收获机智能控制系统的开发和控制策略的测试,提高了系统开发效率,缩短了开发周期。

Aiming at the problem that the development of a low loss threshing intelligent control system for corn kernel harvester is greatly affected by the experiment site and season,a set of hardware in loop simulation platform for low loss threshing intelligent control system was designed and developed.The simulation platform was composed of a simulation platform controller,operation panel,demonstration panel,armrest box,display,and upper computer.The composition of the intelligent control system for low loss threshing of the corn kernel harvester and the test requirements of the harvest controller was analyzed.The mathematical model of the adjustment process of the key operating parameters of the corn kernel harvester was established.The hardware in the loop simulation test system was built based on an STM32 F407 single-chip microcomputer,and the testbed design was completed.The open-loop contrast test of operation parameter adjustment of the simulation platform and the corn grain harvester under no-load conditions was carried out.The mathematical expectation of the simulation error of the cylinder speed was 0.126 r/min,and the standard deviation was 0.776 r/min.The mathematical expectation of operating speed simulation error was-0.022 km/h,and the standard deviation was 0.094 km/h.The mathematical expectation of the concave clearance simulation error was 0.041 mm,and the standard deviation was 0.147 mm,which verified the effectiveness of the simulation platform for the adjustment process of the actuator of the corn harvester was verified.The signal simulation test and the automatic control strategy simulation test of the harvest controller were carried out.The results showed that the simulation platform can be used for the development of an intelligent control system for corn kernel harvester and the test of control strategy,which improved the system development efficiency and shortened the development cycle.