山地果园索道张紧调节自动控制装置的设计

为进一步提高山地果园中果品农资运输的安全性和可靠性，解决传统索道张紧调节依赖于人力或机械的方法受到使用强度限制，无法对索道运行过程中驱动链张紧进行实时检测，导致张紧调节具有滞后性、自适应不强等问题，该文设计了一种山地果园索道张紧调节自动控制装置，张紧调节采用PID控制算法，可适用于不同负载条件下，实时检测驱动链张紧力变化调整索道驱动链张紧程度。试验结果表明：索道运行过程中，张紧控制系统工作在无控制和PID控制条件下，驱动链分别承受的张紧力均值变化范围为：653.5944～763.4059 N和508.1988～568.7609 N，能有效地实现驱动链张紧自动调节，控制系统最大跟踪误差为104 N，平均误差为13.6417 N。

Design of automatic control device for ropeway tension adjustment in hilly orchard

According to the problems that traditional manual or mechanical ropeway tension adjustment approaches were subjected to intensity limits and failed to detect real-time dynamic variations for driving-chain tensions, which causing corresponding hysteretic nature and poor self-adaption, a related device was designed to automatically adjust driving-chain tension by corresponding variation detection and PID control under different payloads for improving transportation security and reliability of fruits and agricultural products in mountain orchard. As a result, the detected mean values of driving-chain tension were ranging from 653.5944 N to 763.4059 N when ropeway system was running under no control, and ranging from 508.1988 N to 568.7609 N under PID control. In conclusion, this system could effectively achieve automatic driving-chain adjustment with maximum tracking error of 104 N and mean error of 13.6417 N.