马铃薯联合收获机车身调平系统设计与试验

针对马铃薯联合收获机作业时车身不能随地形起伏变化自适应平衡,导致作业安全性低、收获损伤大、收获品质差的问题,设计了一种马铃薯联合收获机车身调平系统,该系统采用融合一阶惯性滤波的倾角传感器监测车身横向倾斜角度,干扰和抖动被有效抑制;通过车身调平机构动力学分析,建立了系统的数学模型;采用基于一阶惯性滤波的模糊PID算法控制比例阀驱动升降液压缸运动,从而实现马铃薯联合收获机车身自动调平。对车身调平系统进行仿真分析,结果表明：与传统PID算法相比,模糊PID具有更好的控制性能,系统调节时间缩短51.77%,上升时间缩短53.57%,最大超调量减小6.25%;对整机控制系统进行静态和动态试验测试,结果表明：在坡度-10°~10°范围内,系统自动调平时间小于4s,最大调平误差小于1°;车身在倾斜角10°工况下,使用模糊PID控制算法自动调平时间缩短约50%,静态试验结果与仿真分析结果相符;在起伏变化较大的路面以速度3.6km/h行驶时,车身倾斜角误差控制在±3°以内,较好地实现了马铃薯联合收获机车身自动调平控制,满足实际作业需求。

Design and Experiment of Body Leveling System for Potato Combine Harvester

In order to solve the problem that the body of potato combine harvester cannot self-adaptive balance with the change of terrain, which leads to low operation safety, big harvest damage and poor harvest quality, a body leveling system of potato combine harvester was designed.In this system, the inclination sensor of the first-order inertial filter was used to monitor the lateral inclination of potato combine harvester body, and the interference and jitter were effectively suppressed. The mathematical model of the system was established through the dynamic analysis of the body leveling system mechanism. The fuzzy PID algorithm based on the first-order inertia filter was used to control the electromagnetic proportional valve to drive the lifting hydraulic cylinder to realize the automatic leveling of the potato combine harvester body.The simulation results of the body leveling system showed that fuzzy PID algorithm had better control performance than traditional PID algorithm, which can effectively shorten the system regulation time by 51.77%, the rise time by 53.57% and reduce the maximum overshoot by 6.25%. The static and dynamic experiment results of the whole control system showed that in the range of -10°~10° slope, the automatic leveling time of the system was less than 4s, and the maximum leveling error was less than 1°. Under the condition of 10° incline, the auto leveling time using the fuzzy PID control algorithm was reduced by about 50%. The static test results were consistent with the simulation results. When driving at 3.6km/h speed on the road with great fluctuation, the error of vehicle body tilt angle was controlled within ±3°. Therefore,the automatic leveling control of potato combine harvester was well realized, which met the actual operation requirements.