采棉机体积流量灰色预测模糊PID控制方法

Grey Prediction Fuzzy PID Control Method for Volume Flow of Cotton Picker

由于采棉机行走机构的控制运行具有大延迟、大惯性等非线性特点,给采棉机高效快速采摘棉花带来很大困难,影响采棉机行进速度的稳定性与可靠性。为此,应用灰色预测方法,基于模糊理论设计了能够对采棉机行走速度进行控制调节的灰色预测模糊PID控制器,建立了采棉机行走控制系统仿真模型。通过仿真试验得出:灰色预测模糊PID控制器相比常规PID控制器具有良好的控制效果,且具有超调量小、响应时间短及鲁棒性好的特点。

Aiming at the nonlinear delays such as time delay,cotton real-time flow and cotton road condition during the walking of cotton picker,this paper establishes a gray prediction mathematical model,and combines fuzzy control theory to design a gray predictive fuzzy PID controller to control cotton picking.The walking speed of the machine.Based on the walking speed model,the simulation model of walking speed control system is designed.The improved algorithm is modeled and simulated by Simulink.The simulation results show that the gray predictive fuzzy PID controller has smaller overshoot,shorter transition time and higher reliability than the conventional PID controller.