农用机械液压驱动同步控制仿真分析

Simulation Analysis of Synchronous Control for Hydraulic Drive of Agricultural Machinery

“精准农业”对农用机械液压驱动系统提出了更高要求,要求其在行走时具有良好的直线行驶性、高准确性和安全性。为此提出一种缓冲制动回路,在该回路基础上进行同步控制。建立农用机械液压驱动系统原理模型,分析其工作原理,选择控制策略;在AMESim建模,然后在MATLAB/Simulink中建立模糊自适应PID模型,最后进行联合仿真并分析系统同步性和鲁棒性。仿真结果显示:系统启动后0.7 s时达到稳定的目标转速,最大同步误差为121.83 r/min,达到稳定的目标转速前最大超调量为4%,达到稳定的目标转速后同步误差为0.65 r/min;当系统负载波动时,系统也能在0.8 s内达到稳定的目标转速,最大同步误差为30.35 r/min,达到稳定的目标转速后同步误差为0.65 r/min。因此对于该农用机械液压驱动系统,采用主从控制和模糊自适应PID控制,响应速度快,超调量小,鲁棒性好,能够保证农用机械行走时具有良好的直线行驶性、高准确性和安全性。

“Precision agriculture”has put forward higher requirements for the hydraulic drive system of agricultural machinery,requiring it to have good linearity,high accuracy,and safety when walking.A buffering braking circuit was proposed.On this basis,synchronous control was carried out.The principle model of the agricultural machinery hydraulic drive system was established,and its working principle was analyzed,the control strategy was selected.The model was built in AMESim,and then the fuzzy adaptive PID model was built in MATLAB/Simulink.Finally,the synchronization and robustness of the system were analyzed by co-simulation.The simulation results show that:when the system reaches the stable target speed after starting at 0.7 s,the maximum synchronization error is 121.83 r/min,the maximum overshoot is 4%before reaching the stable target speed,and the synchronization error is 0.65 r/min after reaching the stable target speed;when the system load fluctuates,the system can achieve a stable target speed in 0.8 s,and the maximum synchronization error is 30.35 r/min;after reaching the stable target speed,the synchronization error is 0.65 r/min.Therefore,for the hydraulic drive system of agricultural machinery,using master-slave control and fuzzy adaptive PID control,fast response speed,slight overshoot,good robustness can be achieved;good straight-line driving performance,high accuracy,and safety of agricultural machinery can be ensured.