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薛涛,李伟,杜岳峰,毛恩荣,温浩军.大型高地隙喷雾机喷杆主动悬架自适应模糊滑模控制[J].农业工程学报,2018,34(21):47-56.DOI:10.11975/j.issn.1002-6819.2018.21.006
大型高地隙喷雾机喷杆主动悬架自适应模糊滑模控制
投稿时间:2018-05-23  修订日期:2018-08-22
中文关键词:  农业机械  喷雾  控制  大型高地隙喷雾机  喷杆主动悬架  自适应模糊滑模控制
基金项目:“十三五”国家重点研发计划“研发自走式高杆作物施药技术和智能化装备”(2016YFD0200705)
作者单位
薛涛 1. 中国农业大学工学院现代农业装备优化设计北京市重点实验室北京 100083 
李伟 1. 中国农业大学工学院现代农业装备优化设计北京市重点实验室北京 100083 
杜岳峰 1. 中国农业大学工学院现代农业装备优化设计北京市重点实验室北京 100083 
毛恩荣 1. 中国农业大学工学院现代农业装备优化设计北京市重点实验室北京 100083 
温浩军 2. 新疆农垦科学研究院新疆 832000 
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中文摘要:针对喷杆被动悬架在低频下隔离干扰性车身摆动性能不足的问题,该文在双连杆梯形喷杆被动悬架的基础上加装作动液压缸而获得喷杆主动悬架,并提出了基于自适应模糊滑模控制算法的喷杆主动悬架控制方法;在建立了喷杆主动悬架动力学模型和液压系统模型的基础上,应用Matlab/Simulink对主动悬架系统进行整体仿真分析,验证了该文控制方法的有效性;基于课题组开发的大型高地隙喷雾机搭建了实车试验平台,分别进行了实车静态跟随试验和田间试验。试验结果表明:采用基于自适应模糊滑模控制算法的喷杆主动悬架控制方法,喷杆倾角实车静态跟随响应时间和误差分别为2 s和0.002 rad,相较于PID控制的4 s和0.002 rad响应时间减小;同时,喷杆倾角田间试验摆动范围保持在-0.005~0.005 rad内。结论表明,该文提出的喷杆主动悬架控制方法具有良好的响应性、稳定性和准确性,可有效隔离干扰性车身摆动并保持喷杆稳定。该研究有利于提高中国大型高地隙喷雾机喷雾均匀性和喷杆作业稳定性。
Xue Tao,Li Wei,Du Yuefeng,Mao Enrong,Wen Haojun.Adaptive fuzzy sliding mode control of spray boom active suspension for large high clearance sprayer[J].Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE),2018,34(21):47-56.DOI:10.11975/j.issn.1002-6819.2018.21.006
Adaptive fuzzy sliding mode control of spray boom active suspension for large high clearance sprayer
Author NameAffiliation
Xue Tao 1. Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment, College of Engineering, China Agricultural University, Beijing 100083, China
 
Li Wei 1. Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment, College of Engineering, China Agricultural University, Beijing 100083, China
 
Du Yuefeng 1. Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment, College of Engineering, China Agricultural University, Beijing 100083, China
 
Mao Enrong 1. Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment, College of Engineering, China Agricultural University, Beijing 100083, China
 
Wen Haojun 2. Xinjiang Academy of Agricultural and Reclamation Science, Shihezi, Xinjiang 832000, China 
Key words:agricultural machinery  spraying  control  large high clearance sprayer  spray boom active suspension  adaptive fuzzy sliding mode control
Abstract: The large high clearance self-propelled sprayers with the advantages of high efficiency, environmental protection and intelligentization have been widely used worldwide. The spray boom suspension system is an important part of the large high clearance self-propelled sprayer, whose structure and performance have an important influence on the stability and life of the spray boom as well as the uniformity of spray. In order to solve the problems that the spray boom is easily affected by the body swing of the sprayer to generate harmful motions such as rotation, deflection, shaking and the like, the structure and function of the existing spray boom suspension systems were comprehensively analyzed, and a two-link trapezoidal spray boom suspension system was designed. In view of the problems of poor performance of isolated interference body swing of spray boom passive suspension, a hydraulic cylinder is added on the spray boom passive suspension to obtain an active suspension, which can not only take advantage of the input of external energy to actively adjust the spray boom posture, but also retain the high-frequency isolation performance of the spray boom passive suspension to avoid the high frequency response of the active suspension that consumes a lot of energy. In the light of the dynamics and the hydraulic system characteristics of spray boom active suspension, the control method based on adaptive fuzzy sliding model control algorithm of boom active suspension were developed with the spray boom inclination angle as the control object and the control objectives of fast response, stability and accuracy. On the basis of the established dynamic model of the spray boom active suspension, the dynamic characteristics of the active suspension were simulated and analyzed by Matlab/Simulink, which provides the basis for the effectiveness of the control method. A real vehicle test platform of the spray boom suspension system based on high clearance self-propelled sprayers developed by the research group were built. The dynamic characteristics of the active and passive suspensions of spray boom were tested by the actual vehicle following test and field test, and the results were compared and analyzed with the simulation results of the model. The test result shows that: when adopting the active boom suspension control method based on adaptive fuzzy sliding mode control algorithm, the step response time and the following error of the boom dip angle is 2 s and 0.002 rad, which are decreased compared to PID control. In the field test, the spray boom active suspension can keep the inclination angle of the boom in the range of -0.005-0.005 rad. The results show that the active suspension control method proposed in this paper has good responsiveness, stability and accuracy, and can effectively isolate the disturbing body swing and keep the spray rod stable. The study promote the development of theory for the spray boom active suspension in China, and it is conducive to the development of the large high clearance sprayer in China.
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