基于遗传算法优化模糊PID的甘蔗收获机切割器控制系统

Control system of sugarcane harvester cutter based on fuzzy PID optimized by genetic algorithm

针对甘蔗收获机切割器无法自动控制入土深度,从而影响收获质量的问题,设计一套甘蔗收获机切割器入土深度自动控制系统。该系统主要包含角度式仿形机构、入土深度检测系统以及液压系统和控制系统。利用基于遗传算法优化的模糊PID控制算法进行入土深度的实时调节,通过Simulink阶跃响应以及带随机干扰的阶跃响应仿真,结果显示:基于遗传算法优化的模糊PID控制算法超调量为4.9%、调节时间为1.535 s,与PID控制算法以及模糊PID控制算法相比均有所改善。室内试验结果表明,基于遗传算法优化的模糊PID控制算法误差在(-0.5,0.5),误差最小,有效实现了切割器入土深度自动控制。

A set of automatic control system of sugarcane harvester cutter was designed to solve the problem that the sugarcane harvester cutter cannot automatically control the depth of cutting device,which affects the quality of harvest.The system mainly included angle profile mechanism,depth detection sys⁃tem,hydraulic system and control system.The fuzzy PID control algorithm optimized by genetic algorithm was used to adjust the depth of the soil in real time through Simulink step response and step response with random interference simulation.The results showed that the overshoot of fuzzy PID control algorithm opti⁃mized by genetic algorithm was 4.9%.The adjustment time was 1.535 s,being improved compared with PID control algorithm and fuzzy PID control algorithm.The results of comparing laboratory test showed that the error of fuzzy PID control algorithm optimized by genetic algorithm was(-0.5,0.5),which was the smallest,indicating that it automatically control the depth of the cutter effectively.