玉米收获机自动对行方向自校正系统的研究

Study on Direction Self Correcting System for Corn Harvester Automatic Alignment

所研制的自动对行方向自校正系统是玉米收获机自动对行控制系统的执行单元。系统采用PID控制方式调节电液比例方向阀阀芯开度,进而控制液压缸活塞杆的速度和位移,最终控制转向轮的偏转角度和偏转速度。该系统以4YZP-4D型玉米收获机为载体进行田间试验,结果表明:PID参数为KP=800、Ki=0. 5、Kd=0. 1,作业速度为7 km/h时,自动对行方向自校正系统控制效果最好。

correcting system for auto alignment developed in this paper is the executive unit of the automatic control system of the corn harvester.The system uses PID control mode to regulate the opening of the spool of the electro-hydraulic proportional directional valve,then controls the speed and displacement of the piston rod of the hydraulic cylinder,and ultimately controls the deflection angle and the deflection speed of the steering wheel.The field test is carried out on the 4YZP-4D corn harvester as the carrier.The test data show that when the PID parameters are KP=800,Ki=0.5,Kd=0.1,the operation speed is at 7km/h,it has the best control effect on the self correcting system for auto alignment.