移动式秸秆制粒机作业速度调控系统研究

为了提高移动式秸秆制粒机工作效率，解决玉米秸秆收获过程中作业速度与喂入量不匹配的问题，设计了一种移动式秸秆制粒机作业速度自动调控系统，以实现对秸秆制粒机作业速度的自动调控。该系统由喂入量-期望作业速度自适应变论域模糊控制器与液压马达转速调控系统构成，采用液压系统控制秸秆制粒机作业速度的方式进行调控。通过螺旋输送器功率得到实际喂入量，并根据灰色理论建立喂入量预测模型，以预测值作为变论域模糊控制器的输入；变论域控制器的输出作为液压马达转速调控系统的输入，作业速度PID控制器驱使液压控制系统调节制粒机行走机构改变作业速度，从而使作业速度和喂入量匹配，达到最佳喂入量，起到超前调节的目的。设计了3次试验，分别为模型参数的获取试验、均匀秸秆条件下的稳定性试验、非均匀秸秆条件下跟踪性能试验。试验结果表明，在均匀秸秆条件下，作业速度能够在3m内达到最佳作业状态，超调量小于5%，之后能够保持良好的平稳运行状态，使制粒机以最佳喂入量工作；同样，在非均匀秸秆条件下，作业速度能够以不大于5%的超调量跟踪喂入量的变化。试验证明，本系统能够实时检测作业速度和喂入量，达到作业速度和喂入量相匹配的目的，有效提高了移动式秸秆制粒机的工作效率。

Investigation on Operating Speed Regulation System of Mobile Straw Granulator

In order to improve the working efficiency of mobile straw granulator and solve the problem of mismatch between operating speed and feeding quantity in the process of corn straw harvesting, an automatic monitoring system for operating speed was designed to realize automatic monitoring and control of operating speed of the mobile straw granulator. The system was composed of a fuzzy controller with adaptive variable universe of feeding quantity and a hydraulic motor speed control system. The operating speed of the straw granulator was controlled by the hydraulic system. The actual feeding quantity was obtained by the power of the screw conveyor, and the prediction model of the feeding quantity was established according to the grey theory, with the prediction value as the input of the variable universe fuzzy controller. The output of the variable universe controller was the input of the hydraulic motor speed regulation system. The operating speed PID controller drived the hydraulic control system to adjust the running mechanism of the pellet machine to change the running speed, so as to match the running speed and the feed quantity to achieve the optimum feed quantity and achieve the purpose of advance adjustment. Three tests were designed, which were used to obtain the model parameters, the stability test under the condition of uniform straw, and the tracking performance test under the condition of non-uniform straw. The experimental results showed that under the condition of uniform straw, the operating speed can reach the best operating speed within 3m and the overshoot less than 5%, and then kept a good stable running state, so that the granulator can work with the best feeding quantity. Under the condition of non-uniform straw, the operating speed can track the change of the feeding quantity with an overshoot not more than 5%. The tests showed that the system can detect and match the operating speed and feeding quantity in real time, and can effectively improve the working efficiency of the mobile straw granulator.