收割机割台高度的模糊控制策略研究

Research on Fuzzy Control of Harvester Header Height

针对收割机割台高度自动控制问题,建立了基于收割机车身及割台动力学分析的数学系统模型,提出了基于Mamdani推理法的模糊控制策略。通过对线性化后的系统引入积分控制器以消除稳态误差,再根据经验及调试结果完善推理规则,建立了针对割台的模糊控制器。最后,利用Simulink对该控制器进行地面轮廓跟踪仿真实验,同时与传统PID控制器进行对比分析。结果表明,模糊控制器相对于传统PID控制器,在轮廓跟踪及抗干扰方面可得到更好的效果,跟踪误差可稳定在2%以内。

Aiming at the problem of automatic control of harvester height,a mathematic system model based on harvester body and header dynamics is established,and a fuzzy control strategy based on Mamdani reasoning method is proposed. By introducing the integral controller to the linearized system to eliminate the steady-state error,and according to the experience and debugging results to improve the inference rules,a fuzzy controller for the header is established. Finally,Simulink is used to simulate the ground profile tracking with the fuzzy controller,and the results are compared with the traditional PID controller. The results show that the fuzzy controller can get better effect in ground profile tracking and anti-jamming when compared with the traditional PID controller,and the tracking error can be stabilized within 2%.