扰动下铡草机切碎辊负荷控制器设计与试验

为提高铡草机切碎作业的控制性能、作业质量及减小能耗，基于线性预测控制并结合铡草机切碎作业特点建立目标函数，由切碎运动学误差模型推导采样周期以解决控制鲁棒性，切碎动力学模型推导控制时域及预测时域以提高控制响应性，设计了铡草机切碎辊负荷控制器。Simulink仿真表明：经计算和回归优化选出的预测参数组采样周期、预测时域、控制时域为0.8、15、2 s时，其控制精度及鲁棒性最好、作业能力最大、对扰动的响应速度最快、抑制能力最强及能耗(9.27×10⁶ J)最小。现场试验结果表明：该优化预测参数组模型控制器，能够对铡草机切碎负荷有效跟踪控制，产品质量符合标准要求，同时实现了铡草机作业能力的提高，使系统控制响应更迅速，生产效率更高和单位作业能耗(1.382×10⁷ J)更小。该控制器参数模型建立方法为类属饲草作物收获机控制系统的设计提供了参考。

Design and Experiment of Load Controller for Chopping Roller of Hay Cutter under Disturbance

In order to improve the control performance, work quality, and reduce energy consumption of the hay cutter cutting operation, an objective function was established based on linear predictive control and combined with the characteristics of the hay cutter cutting operation. The sampling period was derived from the cutting kinematic error model to solve the control robustness, and the control time domain and prediction time domain were derived from the cutting dynamics model to improve control responsiveness. A load controller for the hay cutter cutting roller was designed. Simulink simulation showed that when the prediction parameter group (sampling period, prediction time domain, control time domain) selected through calculation and regression optimization was 0.8s, 15s, and 2s, the control accuracy and robustness were the best, the operation ability was the highest, the response speed to disturbances was the fastest, the suppression ability was the strongest, and the energy consumption was the lowest (9.27×106J). The on-site test results showed that the optimized predictive parameter group model cont-roller can effectively track and control the cutting load of the hay cutter, and the product quality met the standard requirements. At the same time, it improved the operation capacity of the hay cutter, making the system control response faster, production efficiency higher, and unit operation energy consumption smaller (1.382×107J). The method for establishing the parameter model of this controller provided a reference for the design of the control system of a generic forage crop harvester.