基于AMESim-Simulink的新型采棉机采摘与行驶恒转速协同控制

Coordinated Control of Picking and Walking Constant Speed of New Cotton Picker Based on AMESim-Simulink

针对装有液压机械无级变速器的采棉机在工作环境下采摘速率与行驶速度的稳定性差、难以匹配等问题,提出了一种基于采棉机单泵控双马达的采摘子系统与变量泵控马达的行驶子系统的恒转速协同控制方法。以采摘速度与行走速度的输出转速恒定为控制目标,通过直接控制、PID控制和双前馈模糊PID协同控制对比验证采棉机采摘与行驶的同步控制。仿真结果表明,双前馈模糊PID协同控制使采摘系统达到稳定状态的超调量减少3.95%,调整时间减少0.124 s;同时使行驶系统超调量减少0.1%,稳定输出转速的调整时间减少3.67 s。双前馈模糊PID协同控制提高了采棉机采摘与行驶的同步稳定性,增强了系统控制性能。

For the cotton picker equipped with a hydromechanical continuously variable transmission,the picking rate and driving speed in the working environment have some problems such as poor stability and difficulty in matching.Therefore,this paper proposes a constant rotation speed coordinated control method based on a picking subsystem of a cotton pump with single pump control and dual motors and a variable pump control motor driving subsystem.The constant output speed of picking speed and walking speed is taken as the control target.The synchronous control of picking and running of the cotton picker is verified through the comparison of direct control,PID control and dual feedforward fuzzy PID collaborative control.The simulation results show that the double feedforward fuzzy PID cooperative control reduces the overshoot of the picking system to a steady state by 3.95%and the adjustment time by 0.124 s.At the same time,the overshoot of the driving system is reduced by 0.1%,and the adjustment time of the stable output speed is reduced by 3.67 s.Double feedforward fuzzy PID cooperative control improves the synchronization stability of cotton picker picking and running and enhances the system control performance.