基于AMESim的旋耕机自动调平系统仿真分析与试验研究

为实现旋耕机田间作业过程中保持水平，设计了一种机具自动调平系统，该系统由控制系统、液压系统、三点悬挂机构、执行元件等组成。建立了该机具在不同情况下的数学模型，并基于AMESim软件构建了液压系统的仿真模型，仿真结果表明：常规PID算法超调非常明显，且连续调平后需要的稳定时间超过2 s，整体调节时间较长，达不到系统所需要求，而模糊PID算法响应时间为1 s左右，基本不超调，到达目标时间、且稳定时间明显更短。并对有、无自动调平功能的旋耕机进行了田间作业，结果表明：具有自动调平功能的系统相较无自动调平功能的系统在耕整地上有大幅度提升，前者耕深高度差最大为23 cm，后者耕深高度差最大为94 cm；前者平均耕深稳定性系数为947%，后者平均耕深稳定性系数为81%；前者平整度≤108 cm，后者平整度≤28 cm。研究了液压系统对调平影响规律，深入分析了调平响应速度、调平控制精度、系统稳定性，为旋耕机具对土壤作业保持平整性和耕深一致性提供了一定依据。

Experimental Study and Simulation Analysis of Rotary TillerAutomatic Leveling System Based on AMESim

In order to maintain the level of rotary tiller in field operation, an automatic leveling system of rotary tiller was designed in this paper. The system consisted of control system, hydraulic system, three point suspension mechanism and actuator. The mathematical model of the machine was established under different conditions, and the simulation model of the hydraulic system was built based on AMESim software. The simulation results showed that the overshoot of the conventional PID algorithm was very obvious, and the stability time required after continuous leveling was more than 2 s, the overall adjustment time is long, which could not meet the requirements of the system, while the response time of the fuzzy PID algorithm was about 1 s, which was basically not overshoot, and the target time and stability time were significantly shorter. Field operation of rotary tiller with or without automatic leveling function was carried out. The results showed that the system with automatic leveling function had a significant improvement over the system without automatic leveling function. The maximum difference of tillage depth and height between the former was 23 cm and the latter was 94 cm. The stability coefficient of the former was 947%, while the latter was 94 cm. The former was less than 108 cm and the latter was less than 28 cm. In this paper, the influence of hydraulic system on leveling was studied, and the response speed of leveling, leveling control precision and system stability were analyzed in depth, which provided a basis for the uniformity of soil leveling and tillage depth of rotary tillage machine.