CN102929146A - Device and method for realizing model reference adaptive control on operation speed of combine harvester - Google Patents
Device and method for realizing model reference adaptive control on operation speed of combine harvester Download PDFInfo
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Abstract
本发明公开了一种联合收割机作业速度模型参考自适应控制装置及控制方法，主要涉及农业机械领域。其特征是：由控制器、触摸屏、传感器系统、手动/自动切换开关、执行系统组成。传感器系统用于采集联合收割机脱粒滚筒、割台搅龙、输送槽、喂入量以及损失量等信号；手动/自动切换开关用于手动状态和自动状态的切换；执行系统由放大器、速度控制阀和电控手柄组成；工作时，控制器接收传感器系统采集的信号，融合模型参考自适应控制算法对联合收割机的作业速度进行自适应控制。控制过程中通过触摸屏显示联合收割机的运行状态，若联合收割机发生故障可以通过触摸屏上的声光报警系统进行声光报警。
The invention discloses an operating speed model reference adaptive control device and a control method of a combine harvester, and mainly relates to the field of agricultural machinery. Its characteristics are: it is composed of a controller, a touch screen, a sensor system, a manual/automatic switch, and an execution system. The sensor system is used to collect signals such as combine harvester threshing drum, header auger, conveying trough, feeding amount and loss amount; manual/automatic switch is used to switch between manual state and automatic state; the execution system is controlled by amplifier and speed Composed of a valve and an electric control handle; when working, the controller receives the signal collected by the sensor system, and the fusion model refers to the adaptive control algorithm to adaptively control the operating speed of the combine harvester. During the control process, the operating status of the combine harvester is displayed through the touch screen. If the combine harvester breaks down, the sound and light alarm system on the touch screen can be used for sound and light alarm.
Description
技术领域 technical field
本发明涉及农业机械领域，特别涉及一种联合收割机作业速度模型参考自适应控制装置。 The invention relates to the field of agricultural machinery, in particular to an operating speed model reference adaptive control device for a combine harvester.
背景技术 Background technique
随着农业机械化的快速发展，联合收割机在农业生产中的应用也越来越广泛，极大的推动了农村的经济发展，联合收割机作为主要收获机械，随着农民收入的提高，对其操纵的舒适性和智能化要求越来越高，联合收割机朝着智能化方向发展是必然趋势。联合收割机的作业速度由作物密度、湿度、田间土壤状况、割幅等因素决定，不同的田间环境对应着不同的最佳作业速度。传统的作业方式主要是依靠驾驶员的个人经验，对驾驶员的操作水平要求高，劳动强度大，并且很难在高作业效率与低故障率之间寻找到合适的平衡点。因此，研究联合收割机作业速度自动控制系统的意义就在于能够减轻驾驶员的劳动强度，并且能够更准确的获取收割机的作业状态，在无故障的状态下获得更高的作业效率。 With the rapid development of agricultural mechanization, the application of combine harvesters in agricultural production has become more and more extensive, which has greatly promoted the economic development of rural areas. Manipulation comfort and intelligent requirements are getting higher and higher, and it is an inevitable trend for combine harvesters to develop in the direction of intelligence. The operating speed of the combine harvester is determined by factors such as crop density, humidity, field soil conditions, cutting width, etc. Different field environments correspond to different optimal operating speeds. The traditional operation method mainly relies on the driver's personal experience, which has high requirements on the driver's operation level and high labor intensity, and it is difficult to find a suitable balance point between high operation efficiency and low failure rate. Therefore, the significance of researching the automatic control system of combine harvester operating speed is to reduce the labor intensity of the driver, and to obtain the operating state of the harvester more accurately, and to obtain higher operating efficiency in a trouble-free state.
发明内容 Contents of the invention
本发明所要解决的技术问题：克服上述设备的技术缺点，提供一种基于多监测点状态参数的联合收割机作业速度模型参考自适应控制装置。该装置能对联合收割机各作业点的状态进行实时显示，能独立设定控制模型参数，并进行作业速度以及加速度的自适应调节、控制参数的自适应优化、试验过程中能够进行数据的存储及复现，该装置能使联合收割机在无故障、低损失的前提下，获得最佳的作业速度，保持合理、均匀的喂入量。 The technical problem to be solved by the present invention is to overcome the technical shortcomings of the above-mentioned equipment, and provide a reference adaptive control device for combine harvester operating speed model based on multi-monitoring point state parameters. The device can display the status of each operating point of the combine harvester in real time, independently set control model parameters, and perform adaptive adjustment of operating speed and acceleration, adaptive optimization of control parameters, and data storage during the test process And reproduce, the device can enable the combine harvester to obtain the best working speed and maintain a reasonable and uniform feeding amount under the premise of no failure and low loss.
本发明解决其技术问题所采用的技术方案是：联合收割机作业速度模型参考自适应控制装置由硬件系统和软件系统组成。硬件系统由控制器、触摸屏、传感器系统、手动/自动切换开关、执行系统组成。手动/自动切换开关用于联合收割机手动状态和自动状态的切换；控制器由可编程控制器PLC及其外围电路组成；触摸屏能够显示联合收割机的运行状态，当联合收割机发生故障时，可以通过触摸屏上的声光报警系统进行声光报警；执行系统由放大器、速度控制阀和电控手柄组成；传感器系统由测量作业速度、脱粒滚筒转速、输粮搅龙转速、输送槽转速、喂入量、损失量等传感器及其调理电路组成。通过传感器系统对联合收割机各工作参数进行监测，通过控制器和放大器调节速度控制阀实现联合收割机作业速度的自动调整，同时通过触摸屏显示联合收割机的运行状态，软件系统主要是由信号检测模块、模型参考自适应算法模块及作业速度控制模块等组成。 The technical scheme adopted by the present invention to solve the technical problem is: the operating speed model reference adaptive control device of the combine harvester is composed of a hardware system and a software system. The hardware system is composed of controller, touch screen, sensor system, manual/auto switch, and execution system. The manual/automatic switch is used to switch between the manual state and the automatic state of the combine harvester; the controller is composed of a programmable logic controller PLC and its peripheral circuits; the touch screen can display the operating status of the combine harvester. When the combine harvester fails, The sound and light alarm system on the touch screen can be used for sound and light alarm; the execution system is composed of amplifier, speed control valve and electric control handle; Input, loss and other sensors and their conditioning circuits. The working parameters of the combine harvester are monitored through the sensor system, and the speed control valve is adjusted through the controller and amplifier to realize the automatic adjustment of the combine harvester's operating speed. At the same time, the operating status of the combine harvester is displayed through the touch screen. The software system is mainly composed of signal detection. The module and model refer to the self-adaptive algorithm module and the operation speed control module.
本发明技术方案包括如下步骤： Technical scheme of the present invention comprises the steps:
A.没有按下手动/自动切换开关，联合收割机处于手动工作状态；按下手动/自动切换开关，将放大器与速度控制阀连接，联合收割机处于自动控制状态。 A. If the manual/auto switch is not pressed, the combine harvester is in the manual working state; press the manual/auto switch to connect the amplifier to the speed control valve, and the combine harvester is in the automatic control state.
B.传感器系统采集联合收割机的各路信号，经过相关的调理电路处理后输入到控制器中建立模型参考自适应控制模型。 B. The sensor system collects various signals of the combine harvester, and after being processed by the relevant conditioning circuit, it is input to the controller to establish a model reference adaptive control model.
C．控制器根据建立的模型参考自适应控制模型，依据联合收割机不同的工作状态，选择不同的控制策略对放大器进行控制，放大器控制速度控制阀的开度，从而实现对联合收割机作业速度的自适应控制。 C． The controller refers to the self-adaptive control model according to the established model, and selects different control strategies to control the amplifier according to the different working states of the combine harvester. Adapt to control.
本发明的有益效果是，在联合收割机现有的液压无极变速器手动调速机构的基础上，附加了作业速度模型参考自适应控制装置，由传感器系统采集联合收割机工作状态信号输入可编程控制器PLC进行模型参考自适应算法模块处理，选择相应的控制策略，驱动执行系统工作，从而实现联合收割机作业速度自适应控制，同时实时显示联合收割机的工作状态，遇到故障时及时进行声光报警。 The beneficial effect of the present invention is that on the basis of the existing hydraulic stepless transmission manual speed regulating mechanism of the combine harvester, an operation speed model reference adaptive control device is added, and the working state signal of the combine harvester is collected by the sensor system and input into the programmable control The controller PLC performs model reference adaptive algorithm module processing, selects the corresponding control strategy, and drives the execution system to work, so as to realize the self-adaptive control of the combine harvester's operating speed, and at the same time display the working status of the combine harvester in real time, and promptly respond when encountering a fault. light alarm.
附图说明 Description of drawings
下面结合附图和实施例对本发明进一步说明。 The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
图1为联合收割机作业速度模型参考自适应控制装置工作原理框图。 Figure 1 is a block diagram of the operating principle of the combine harvester operating speed model reference adaptive control device.
图2为联合收割机作业速度模型参考自适应控制装置硬件电路框图。 Fig. 2 is a hardware circuit block diagram of the combine harvester operating speed model reference adaptive control device.
图3为联合收割机作业速度模型参考自适应控制装置控制模块原理图。 Figure 3 is a schematic diagram of the control module of the combine harvester operating speed model reference adaptive control device.
图4为联合收割机作业速度模型参考自适应控制方法流程图。 Fig. 4 is a flow chart of the combined harvester operating speed model reference adaptive control method.
图5为模型参考控制子程序流程图。 Figure 5 is a flow chart of the model reference control subroutine.
图6为联合收割机作业速度模型参考自适应控制装置模型参考规则表。 Fig. 6 is a model reference rule table of the combine harvester operating speed model reference adaptive control device.
具体实施方式 Detailed ways
如图1和图2所示，联合收割机作业速度模型参考自适应控制装置的硬件系统由控制器2、触摸屏1、传感器系统3、手动/自动切换开关6、执行系统组成，其中执行系统包括电控手柄5、速度控制阀7和放大器4。 As shown in Figure 1 and Figure 2, the hardware system of the combined harvester operating speed model reference adaptive control device consists of a controller 2, a touch screen 1, a sensor system 3, a manual/automatic switch 6, and an execution system, wherein the execution system includes Electric control handle 5, speed control valve 7 and amplifier 4.
所述传感器系统3是由安装于联合收割机8上的各个监测点的传感器组成，包括安装于脱粒滚筒、输粮搅龙和前进轮转轴上的霍尔转速传感器，安装于割台搅龙转轴上的喂入量传感器和安装于联合收割机8筛子尾部的损失量传感器。传感器系统3的输出端接控制器2的输入端。 The sensor system 3 is composed of sensors installed at various monitoring points on the combine harvester 8, including a Hall speed sensor installed on the threshing drum, the grain transport auger and the shaft of the forward wheel, and installed on the shaft of the header auger. The feeding amount sensor on the upper part and the loss amount sensor installed at the tail of the combine harvester 8 sieve. The output of the sensor system 3 is connected to the input of the controller 2 .
所述触摸屏1与控制器2输出端连接，用于显示联合收割机8的运行状态，当联合收割机8发生故障时，通过触摸屏上的声光报警系统可以进行声光报警。 The touch screen 1 is connected to the output end of the controller 2 for displaying the operating status of the combine harvester 8. When the combine harvester 8 breaks down, the sound and light alarm system on the touch screen can be used for sound and light alarm.
所述控制器2由可编程控制器及其调理电路组成，控制器2的输入端与传感器系统3的输出端连接，输出端与触摸屏1连接，控制器2的输出端接放大器4的输入端。放大器4的输出端接入手动/自动切换开关6的自由端，手动/自动切换开关6的公共端与联合收割机8的速度控制阀7相连，手动/自动切换开关6的另一个自由端接电控手柄5，通过手动/自动切换开关6实现联合收割机8手动与自动状态的切换。手动控制由电控手柄5直接控制速度控制阀7，自动控制由控制器2输出电压驱动放大器4控制速度控制阀7。速度控制阀7为比例双向阀，根据电流的方向与大小控制阀的流通方向与流量大小。手动控制时，手动/自动切换开关6将速度控制阀7与电控手柄5连通。电控手柄5为电比例输出，手柄置于中位时无电压输出，当手柄前推按比例输出正向电压，当手柄后拉按比例输出反向电压，通过手柄的输出电压控制速度控制阀7。自动控制时，手动/自动切换开关6将速度控制线圈两端与放大器4连通。此时手柄失效，联合收割机8的作业速度完全由控制器2控制。放大器4的功能是将控制器2输出的电压线性的转化为电流驱动速度控制阀7，在使用前必须对其进行标定。通过MIN旋钮调节输出电流，使控制器2对放大器4输入最小电压值时，放大器4输出电流为0；通过MAX旋钮调节输出电流，使控制器2对放大器4输入最大电压值时，放大器4输出电流正好能使联合收割机8的作业速度最大。放大器4调整完成后，只需改变输入端VI的电压值即可控制联合收割机8的作业速度。 The controller 2 is composed of a programmable controller and its conditioning circuit, the input end of the controller 2 is connected with the output end of the sensor system 3, the output end is connected with the touch screen 1, and the output end of the controller 2 is connected with the input end of the amplifier 4 . The output end of the amplifier 4 is connected to the free end of the manual/automatic switch 6, the common end of the manual/automatic switch 6 is connected to the speed control valve 7 of the combine harvester 8, and the other free terminal of the manual/automatic switch 6 is connected to The electric control handle 5 realizes the switching between the manual and automatic states of the combine harvester 8 through the manual/automatic switching switch 6 . In manual control, the electric control handle 5 directly controls the speed control valve 7, and in automatic control, the output voltage of the controller 2 drives the amplifier 4 to control the speed control valve 7. The speed control valve 7 is a proportional two-way valve, which controls the flow direction and flow rate of the valve according to the direction and size of the current. During manual control, the manual/automatic switch 6 connects the speed control valve 7 with the electric control handle 5 . The electric control handle 5 is an electric proportional output. When the handle is placed in the middle position, there is no voltage output. When the handle is pushed forward, the positive voltage is output proportionally, and when the handle is pulled back, the reverse voltage is output proportionally. The speed control valve is controlled by the output voltage of the handle. 7. During automatic control, the manual/automatic switch 6 connects both ends of the speed control coil with the amplifier 4 . This moment handle fails, and the operation speed of combine harvester 8 is controlled by controller 2 fully. The function of the amplifier 4 is to linearly convert the voltage output by the controller 2 into a current to drive the speed control valve 7, which must be calibrated before use. Adjust the output current through the MIN knob, so that when the controller 2 inputs the minimum voltage value to the amplifier 4, the output current of the amplifier 4 is 0; adjust the output current through the MAX knob, so that when the controller 2 inputs the maximum voltage value to the amplifier 4, the amplifier 4 outputs The current is just in time to maximize the operating speed of the combine harvester 8 . After the adjustment of the amplifier 4 is completed, the operating speed of the combine harvester 8 can be controlled only by changing the voltage value of the input terminal VI. the
联合收割机作业速度模型参考自适应控制原理及流程如图3所示，模型参考自适应控制主要由四部分组成：被控对象、参考模型、自适应控制器和自适应规律。其中，r为系统的输入，u为模糊控制器输出的控制信号，y为被控对象的实际输出，ym为输出的参考值，e为实际输出与参考值的偏差， 
联合收割机自适应控制如图4、5所示，控制系统首先调用自适应控制程序，根据自适应控制程序对联合收割机进行自适应速度调节，然后通过触摸屏采集监测数据，通过图5所示的参考流程判断联合收割机的前进速度是否符合参考模型，若前进速度符合参考模型则进行数据的优化，若不符合参考模型则重新进行数据的判断。 The adaptive control of the combine harvester is shown in Figures 4 and 5. The control system first invokes the adaptive control program to adjust the adaptive speed of the combine harvester according to the adaptive control program, and then collects monitoring data through the touch screen, as shown in Figure 5. The reference process judges whether the forward speed of the combine harvester conforms to the reference model. If the forward speed conforms to the reference model, the data is optimized, and if it does not conform to the reference model, the data is judged again.
本发明的联合收割机自适应控制方法，其具体步骤为： Combine harvester adaptive control method of the present invention, its concrete steps are:
步骤1、设定控制器2中的模块参数。设N1 、N2、N3、N4、N5分别为割台搅龙、脱粒滚筒、输粮搅龙、前进速度、输送槽正常作业状态下的转速参考值，n1、n2、n3、n4、n5分别为割台搅龙、脱粒滚筒、输粮搅龙、前进速度、输送槽的实际转速测量值，M1、M2分别为喂入量和损失量的上限值，m1、m2分别为喂入量和损失量的实际测量值。根据水稻和小麦的收获状况不同，分别设定了正常工作状态下的初始参考模型。 Step 1. Set the module parameters in the controller 2. Let N 1 , N 2 , N 3 , N 4 , and N 5 be the reference values of the rotating speed of header auger, threshing drum, grain conveying auger, forward speed, and conveying trough under normal operating conditions, respectively; n 1 , n 2 , n 3 , n 4 , n 5 are the measured values of the header auger, threshing drum, grain conveying auger, forward speed, and the actual rotational speed of the conveying trough, respectively; M 1 , M 2 are the upper limits of the feeding amount and loss amount, respectively Value, m 1 , m 2 are the actual measured values of feeding amount and loss amount respectively. According to the different harvest conditions of rice and wheat, the initial reference models under normal working conditions were respectively set.
步骤2、控制器2通过传感系统采集喂入量、行驶速度、脱粒滚筒转速、输粮搅龙转速、损失量的信息。对信息进行处理，得到各监测点的状态值，通过触摸屏显示各监测点状态。 Step 2, the controller 2 collects the information of feeding amount, traveling speed, rotating speed of threshing drum, rotating speed of grain conveying auger, and loss amount through the sensor system. Process the information to obtain the status value of each monitoring point, and display the status of each monitoring point through the touch screen.
步骤3、控制器2通过模型参考自适应控制模块对各监测点的状态值进行处理与融合。如图3所示，各监测点状态值先经参考模型处理后通过自适应控制模块进行融合。自适应控制器的设计过程如下。 Step 3, the controller 2 processes and fuses the state values of each monitoring point through the model reference adaptive control module. As shown in Figure 3, the state values of each monitoring point are first processed by the reference model and then fused by the adaptive control module. The design process of the adaptive controller is as follows.
假设被控对象的状态方程为 Suppose the state equation of the controlled object is
(
假设参考模型是线性系统，并由式（4.2）确定： Assuming that the reference model is a linear system, it is determined by equation (4.2):
又假设A的所有特征值都有负实部，则该模型参考系统具有一个渐近稳定的平衡状态。令误差向量e为： Assuming also that all eigenvalues of A have negative real parts, the model reference system has an asymptotically stable equilibrium state. Let the error vector e be:
通过一个合适的控制向量u，使得误差向量减小到零。由式（1）和（2）可得 Through an appropriate control vector u , the error vector is reduced to zero. From formula (1) and (2) can get
设计一个控制器，使得在稳态时， Design a controller such that at steady state,
和 and
或 
因此，模型参考自适应控制的重点就是设计出一个自适应控制器，通过自适应控制器输出的控制变量u，使得被控对象的输出与参考模型之间的偏差e为零。 Therefore, the focus of model reference adaptive control is to design an adaptive controller, through the control variable u output by the adaptive controller, so that the deviation e between the output of the controlled object and the reference model is zero.
步骤4、控制器3选择相应的参考模型。自适应系统中的反馈控制是根据实际各监测点的状态与所设定的最佳参数的误差，经自适应控制器得出相应的参考模型，通过自适应控制策略使得各监测点的状态趋近于所设定的模型。本系统的自适应控制器中共设定了三种参考模型，分别命名为为正常、异常、故障。正常工作状态的参考模型为步骤1中的设定值，其中割台搅龙、脱粒滚筒、输粮搅龙、输送槽的转速参考值可根据收割环境的不同进行修改，喂入量与损失量为联合收割机固定的性能指标；异常工作状态参考模型中作业速度为正常工作状态下的50%；故障状态参考模型中作业速度为0。模型参考规则如图6所示，5路转速值的上限分别为联合收割机最大油门且空载状态下的转速值，参考模型选取的优先级为：故障>异常>正常，即有故障时进入故障状态模型，无故障有异常时进入异常状态模型，无故障无异常时才进入正常状态模型。 Step 4, the controller 3 selects the corresponding reference model. The feedback control in the adaptive system is based on the error between the actual state of each monitoring point and the set optimal parameters, and the corresponding reference model is obtained through the adaptive controller, and the state of each monitoring point tends to trend through the adaptive control strategy close to the set model. The self-adaptive controller of this system sets three kinds of reference models in total, which are named as normal, abnormal and fault respectively. The reference model of the normal working state is the set value in step 1. The reference value of the rotating speed of the header auger, threshing drum, grain conveying auger, and conveying trough can be modified according to the harvesting environment. The amount of feed and loss It is a fixed performance index of the combine harvester; the operating speed in the abnormal working state reference model is 50% of the normal working state; the operating speed in the fault state reference model is 0. The model reference rules are shown in Figure 6. The upper limit of the 5-way speed value is the speed value of the maximum throttle of the combine harvester and the no-load state. The priority of the reference model selection is: fault>abnormal>normal, that is, when there is a fault, enter Fault state model, enter the abnormal state model when there is no fault and abnormality, enter the normal state model when there is no fault and no abnormality.
步骤5、判断是否进行手动控制，若进入手动控制，则联合收割机前进速度自适应控制结束，触摸屏依旧显示其工作状态。若不进入手动控制，则返回步骤2，继续进行自适应控制。 Step 5. Determine whether to perform manual control. If manual control is entered, the self-adaptive control of the forward speed of the combine harvester ends, and the touch screen still displays its working status. If it does not enter manual control, return to step 2 to continue adaptive control.
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