拖拉机电液悬挂系统模糊PID自适应控制方法

Fuzzy-PID Self-adaptive Control Method in Electro-hydraulic Hitch System

将模糊PID自适应控制方法应用到拖拉机电液悬挂系统控制中。根据系统特性,设计了模糊PID自适应控制器,建立了电液悬挂系统模型,并与普通PID控制方法进行了牵引力控制、位置控制性能仿真分析。搭建了试验台对电液悬挂系统进行田间试验。试验结果表明,采用模糊PID自适应控制以后,电液悬挂系统设定耕深由0.1 m阶跃至0.3 m时,系统过渡过程时间为4 s,无超调量;设定牵引力由3 kN阶跃至7 kN时,系统过渡过程时间为5 s,系统超调量为25%。

Fuzzy-PID self-adaptive control method was used in tractor's electro-hydraulic hitch system.Firstly,the fuzzy-PID self-adaptive controller was designed,and the model of the system was built.Secondly,the performance of draft control and position control was simulated and analyzed compared with PID control.At last,a field-test bed of electro-hydraulic hitch system was built.The test result showed that fuzzy-PID adaptive control had a better performance than PID control in electro-hydraulic hitch system.When the preset position stepped from 0.1 m to 0.3 m,the response time was 4 s,and overshoot was 0.When preset draft stepped from 3 kN to 7 kN,the system's response time was 5 s,and the overshoot was 25%.