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基于LADRC的电动旋转耕机的耕地深度控制系统的设计和实验研究

Wei Tao^1,2, Bin Chen^3,4, Xinkun Yang¹

¹The Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions, Wuyi University, Nanping, 354300, Fujian, China.

Scientific reports

|January 11, 2025

概括

本研究介绍了一种适应式耕地深度控制系统,使用线性主动干扰拒绝控制 (LADRC) 用于电动旋转耕地机. LADRC系统显著提高了深度准确性,在现场测试中表现优于模糊比例积分导数 (PID) 控制.

科学领域:

农业工程农业工程
控制系统工程控制系统工程
精准农业精准农业精准农业

背景情况:

耕地深度的准确性对于交叉作物系统至关重要,特别是在茶叶园和大豆园中.
现有的控制系统在不同的条件下经常难以保持精确的耕地深度.
需要自适应实时控制来提高电动旋转机的性能.

研究的目的:

开发和评估电动旋转耕机的可适应实时耕地深度控制系统.
为了提高茶园耕地深度控制的准确性,与大豆交叉种植.
为了比较线性主动干扰拒绝控制 (LADRC) 与模糊的比例-积分-导数 (PID) 控制的性能.

主要方法:

实施一个集成身体姿势传感器,控制单元和混合步进电机的耕地深度控制系统.
使用线性主动干扰拒绝控制 (LADRC) 基于实时位移传感器反的闭环控制.
在不同速度 (0.5公里/小时,0.8公里/小时) 和预设深度 (80毫米,100毫米) 进行实地实验.

主要成果:

LADRC系统实现了耕地深度的平均标准偏差为3.2mm,远低于模糊PID控制的10.5mm.
与模糊PID相比,LADRC控制减少了68.9%的耕地深度变化率.
该系统证明了有效地减轻操作偏差,确保稳定可靠的耕地深度.

结论:

基于LADRC的拟议适应式实时耕地深度控制系统在提高控制精度方面非常有效.
在复杂的农业环境中,LADRC为电动旋转机提供了优越的性能,而不是模糊的PID控制.
该系统提供了一个稳定可靠的解决方案,用于在作物间作物场景中精确地管理耕作深度.

关键词:

电动旋转机电动旋转机据报道,LADRC已经开始.水深度控制系统的控制系统.

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