拖拉机作业机组模糊综合控制模型及仿真试验

拖拉机作业机组是一个复杂的非线性且有惯性的控制系统，系统参数间存在耦合关系，建立精确数学模型进行综合控制比较困难，通过对拖拉机作业机组动态特性的研究，建立了基于发动机负荷率、驱动轮滑转率和作业阻力3参数的综合控制仿真模型，并应用模糊控制技术实现了机组的综合控制。试验结果表明，该仿真模型能够根据作业阻力的变化自动推理输出档位、油门位置或耕深控制信号，由下位机执行机构完成控制，实现了由计算机模拟驾驶员对机组进行综合自动控制。由计算机实现机组综合自动控制，能根据选定的控制策略使发动机按最低油耗曲线运行，获得了很好的动力性和经济性，而且计算机自动控制摆脱了人工经验控制，控制更精确，比人工控制效果好，且控制具可重复性和试验结果具可比性。因此，所设计的拖拉机作业机组模糊综合控制模型对拖拉机作业机组综合自动控制研究有一定的实用和参考价值。

Simulated test for fuzzy integrated control model of tractor-implement combination

Many scholars all over the world have been studying tractor-implement combination on auto-control for decades. But so far most of studies focus on its sub-systems such as engine control system, suspension control system, plough resistance control system. Studies on the whole units integrated control were seldom reported. Tractor-implement combination is a complicated non-linearity and inertial control system. There are couple relations among system parameters. So it is difficult to build an exact mathematic model for integrated control of the tractor unit. A simulated model of the tractor unit based on three parameters such as engine load rate, drive wheel slip and tillage resistance was proposed by studying the unit dynamic characteristics in this paper. This model uses fuzzy control theory to realize integrated control of the tractor unit. The experiment showed that this control model was able to automatically infer output control signals such as gear, throttle or plough depth according to tillage resistance. These signals were sent to the control implement unit to control transmission, throttle or plough depth of implement. So it simulated driver to control tractor-implement combination by computer. The computer integration control was able to make engine work on higher engine load rate and lower specific fuel consumption. The control effect was better than the ones by manual control. And the experiment by computer control was able to be repeated and the test result can be compared with. So this method provides a definite practical reference for integrated auto-control of tractor-implement combination.