跑步机速度跟踪算法在联合收割机运动控制中的应用

Application of Speed Tracking Algorithm of Treadmill in Motion Control of Combine Harvester

智能跑步机通过速度跟踪控制算法,可以使人置于虚拟现实环境中不受约束地运动,并能抵消人体的任意运动,使人体始终处于跑步机的固定位置上。为了提高联合收割机运动自动控制的能力,将跑步机速度跟踪控制算法引入到了收割机运动控制系统中,收割机在运动过程中可以根据喂入量自行调整行进速度,再将速度信息反馈给搅龙,以调整其旋转的角速度,使收割状态达到最佳。为了验证该方案的可行性和可靠性,在普通联合收割机上应用了速度跟踪控制算法,并对收割机的速度和轨迹控制进行了试验,结果表明:采用该方案可以根据喂入量自动地调整收割机的速度,且调节速度快、超调量小、速度调节后平稳,可以满足较高精度的收割机作业需求。

Through speed tracking control algorithm,the intelligent treadmill can make the person be confined by the virtual reality environment movement,and can offset any motion of the human body. The body is always in a fixed position on the treadmill. In order to improve the ability to combine automatic control movement,the treadmill speed tracking control algorithm is introduced to combine harvester in motion control system in the process of movement. According to feed quantity to adjust the speed,and then speed feedback to the auger,to adjust the angular velocity of rotation,the state of the harvest the best. In order to verify the feasibility and reliability of the scheme,the speed tracking control algorithm is installed on a common combined harvester,and speed and trajectory control of the harvester is experimented.The experimental results show that the scheme can be adjusted automatically according to the feeding speed of the harvester,and the adjusting speed,small overshoot,speed after adjusting smoothly,which can meet the high precision demand harvester.