摘要
为了有效解决大型植保机在实际作业时喷杆不能跟随冠层高度变化而导致的喷洒效率低,喷雾效果差等问题。本文设计了以ARM-A8为核心的嵌入式喷杆悬架控制器,将模糊PID复合控制算法应用到嵌入式系统中对喷杆进行实时位置控制,并在基于linux系统的QT软件平台上搭建了人机交互界面,用来在作业中实时显示喷杆状态和调节控制算法参数。悬架控制器以喷杆位置偏差信号作为输入,通过控制液压比例阀中的电压信号来控制喷杆位置。实验结果表明,该控制器响应速度快,跟随效果好,在实际中能够有效跟踪冠层高度,提高喷洒效率。
The spray boom of a large plant protection machine may not follow the change of the canopy height in actual operation,which may cause the problem of low spraying efficiency and poor spray effect. in order to effectively solve this phenomenon,an embedded controller for spray boom is designed based on ARM-A8 in this paper,and Fuzzy PID control strategy is applied to embedded system to steer the position of spray boom in real time. Additionally, human- computerinteractioninterface has been developed on the QT software platform based on linux system to display boom condition and adjust the control algorithm parameters in real time. The input of the suspension controller is set as the deviation signal of movements of the boom,and the position of the boom is steered via controlling voltage signal in hydraulic proportion valve. The test result shows that the controller designed had a fast response,and the closed-loop system can effectively track to the height of canopy.
作者
崔启国
李树江
王向东
CUI Qi-guo;LI Shu-jiang;WANG Xiang-dong(School of Information Science and Engineering,Shenyang University of Technology,Shenyang 110870, China)
出处
《电子设计工程》
2019年第20期180-183,188,共5页
Electronic Design Engineering
基金
国家重点研发计划子课题(2016YFD0700104-02)
