| 葡萄防寒布平整卷收速度控制系统设计与试验 |
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| 引用本文： | 牛丛, 徐丽明, 袁全春, 马帅, 闫成功, 赵诗建. 葡萄防寒布平整卷收速度控制系统设计与试验[J]. 农业工程学报, 2021, 37(5): 77-86. DOI: 10.11975/j.issn.1002-6819.2021.05.009 |
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| 作者姓名： | 牛丛 徐丽明 袁全春 马帅 闫成功 赵诗建 |
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| 作者单位： | 1.中国农业大学工学院，北京 100083 |
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| 基金项目： | 现代农业产业技术体系建设专项资金资助（CARS-29） |
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| 摘 要： | 针对中国新疆地区葡萄防寒布平整卷收难的问题，该研究分析了防寒布平整卷收原理，并设计了葡萄防寒布平整卷收速度控制系统。该系统可自动检测防寒布的卷收状态，在平整卷收状态时采用增量式PID算法输出PWM（Pulse Width Modulation）信号，基于机具前进速度和布辊半径实现防寒布卷收速度的实时调节；在偏斜卷收状态时通过调节卷布辊轴转速改变卷布辊轴实时转速相对于目标转速的超前或滞后关系，使防寒布恢复平整卷收状态。通过在Simulink中建立电机PID控制模型进行仿真。通过直流电机转速静态标定试验得到电机转速与PWM信号占空比的对应关系。防寒布自动调偏性能试验验证了本文方法的可行性，优化得到激光开关传感器与防寒布边缘的距离为20 mm。由直流电机转速调节性能试验对仿真试验结果进行校验，得到优化后的稳态响应时间约为0.4 s，响应延迟约为0.1 s。田间试验结果表明，防寒布卷收平整度均大于90%，平均为92.78%，满足防寒布卷收作业要求。研究结果可为葡萄防寒布回收机的设计与优化提供技术参考。
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| 关 键 词： | 农业机械 设计 自动化 葡萄 防寒布回收 PID控制 自动调偏 |
| 收稿时间： | 2020-10-20 |
| 修稿时间： | 2021-02-16 |
Design and experiments of smoothly winding speed control system of grape cold-proof cloth |
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| Niu Cong, Xu Liming, Yuan Quanchun, Ma Shuai, Yan Chenggong, Zhao Shijian. Design and experiments of smoothly winding speed control system of grape cold-proof cloth[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2021, 37(5): 77-86. DOI: 10.11975/j.issn.1002-6819.2021.05.009 |
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| Authors: | Niu Cong Xu Liming Yuan Quanchun Ma Shuai Yan Chenggong Zhao Shijian |
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| Affiliation: | 1.College of Engineering, China Agricultural University, Beijing 100083, China |
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| Abstract: | Cold-proof mode has widely been updated for some vineyards in Xinjiang Region of northern China. The cold-proof cloth is normally used to assist in soil buried operation for better insulation of heat and moisture in complete soil clearing. However, the machine is still lacking for the soil clearing of winter grape and cold-proof cloth recycling, particularly in the early stage of popularization and application for the cold-proof cloth assisted soil-buried mode. It is also difficult to realize the smooth winding of cold-proof cloth. In this study, a new speed control system was proposed for smooth winding of grape cold-proof cloth in spring in Xinjiang Region, China. The linear velocity of the cloth roll was set to be equal to the forward speed of the machine. This system automatically detected the winding state of the cold-proof cloth. In smooth winding of the cold-proof cloth, the theoretical rotation rate of the DC motor was calculated in real time, according to the real-time changes of forward speed in a machine and the radius of cloth roller. A PID controller was adopted to control the duty ratio of Pulse Width Modulation (PWM) signal, then to adjust the rotation rate of the DC motor, further to drive the cloth roller for winding the cold-proof cloth. As such, the forward speed of the machine was used to realize the real-time adjustment of rotation rate for the cloth roller. At the time of cold-proof cloth deflected winding, the rotation rate of the cloth roller was adjusted to advance or lag the target rotation rate so that the cold-proof cloth was to restore the smooth winding state. Specifically, this study included the structure design of grape cold-proof cloth winding device, the hardware and software design of the control system. A control model was established in Simulink module using the motor transfer function model. In the simulation, the PID parameters were set, where the gain coefficients of proportion, integral, and differential were 0.3, 0.2, and 0.000 05, respectively. A physical prototype was also processed for the speed system. The static calibration test was carried out for the rotation rate of the DC motor, in order to obtain the relation between the motor rotation rate and duty ratio of the PWM signal. A performance test was conducted to verify the feasibility of automatic deflection adjustment for the cold-proof cloth. The optimized mounting distance of 20 mm was achieved for the laser switching sensor. PID parameters in the simulation test were taken as the intermediate levels in the performance experiment for the rotation rate of the DC motor, where each coefficient was tested at 4 levels in turn. The optimized proportion, integral, and differential gain coefficient were 0.3, 0.1, and 0.000 05, respectively, indicating basic consistency with the simulated values. The steady-state response time of the control system was about 0.4 s with a response delay of about 0.1 s, indicating a relatively small influence and good control effect. The performance test of slant winding cold-proof cloth was carried out, where the flatness was taken as the evaluation index. It was found that the flatness of the cold-proof cloth was more than 90% and the average was 92.78%, suitable for the operational requirements. The speed system with better control performance can provide a technical reference for the design and optimization of recycling machinery for the grape cold-proof cloth. |
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| Keywords: | agricultural machinery design automation grape cold-proof cloth recycling PID control Simulink simulating optimization automatic offset adjustment flatness |
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