CN117406582A - Tilling depth control method and system based on position-force-sliding primary and secondary grading - Google Patents
Tilling depth control method and system based on position-force-sliding primary and secondary grading Download PDFInfo
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Abstract
The invention discloses a tilling depth control method and a system based on bit-force-sliding primary and secondary grading, comprising the following steps: acquiring actual tilling depth, resistance and slip rate in the process of tractor tilling; respectively calculating the difference value and the difference value change rate of the actual tilling depth and the target tilling depth, the difference value and the difference value change rate of the resistance and the set resistance, and the difference value change rate of the slip rate and the set slip rate; performing fuzzy reasoning on the difference value between the resistance and the set resistance and the change rate of the difference value to determine the secondary PID regulating variable; performing fuzzy reasoning on the difference value between the slip rate and the set slip rate and the change rate of the difference value, and determining a secondary PID regulating quantity; and performing PID control on the tilling depth according to the difference value between the actual tilling depth and the target tilling depth and the change rate of the difference value, and adding the secondary PID regulating quantity and the secondary PID regulating quantity with the PID control parameter set value in the PID control process to obtain the PID control parameter. The uniformity of the tilling depth control is ensured.
Description
Technical Field
The invention relates to the technical field of tilling depth control, in particular to a tilling depth control method and system based on position-force-sliding primary and secondary grading.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the rapid development of science and technology, the requirements of modern agriculture on cultivation quality are further improved, the cultivation depth uniformity is a key index for evaluating the cultivation quality, a decisive effect is played on the growth of crops, and the crop yield and quality are directly affected. The tractor is used as a carrier for cultivation operation and plays an important role in modern agricultural production, and in the cultivation process, the tractor is interfered by complex external factors at any time, so that the uniformity of cultivation depth is difficult to ensure. In order to solve the problem, students at home and abroad put forward various active tilling depth control methods, wherein common control methods comprise position control, resistance control and slip rate control, and the three control methods are single-factor adjustment, namely tilling depth adjustment is carried out by using only one influencing factor. In recent years, students propose a control method for forming mixed regulation by combining single factor regulation with each other, and as the mixed regulation synthesizes a plurality of tilling depth influencing factors, the control performance is generally superior to that of the single factor regulation, but most of the current comprehensive regulation is switching regulation, namely, different regulation modes are switched according to the weights of different influencing factors, and the composite interaction influence of a plurality of influencing factors on the tilling depth is not considered at the same time, so that the regulation error on the tilling depth is larger, and the stability of the tilling depth cannot be ensured.
Disclosure of Invention
In order to solve the problems, the invention provides a tilling depth control method and a tilling depth control system based on position-force-sliding primary and secondary grading, and simultaneously the tilling depth is controlled according to the position, the resistance and the sliding rate, so that the uniformity of the tilling depth is ensured.
In order to achieve the above purpose, the invention adopts the following technical scheme:
in a first aspect, a tilling depth control method based on bit-force-sliding primary and secondary grading is provided, including:
acquiring actual tilling depth, resistance and slip rate in the process of tractor tilling;
respectively calculating the difference value and the difference value change rate of the actual tilling depth and the target tilling depth, the difference value and the difference value change rate of the resistance and the set resistance, and the difference value change rate of the slip rate and the set slip rate;
performing fuzzy reasoning on the difference value between the resistance and the set resistance and the change rate of the difference value to determine the secondary PID regulating variable;
performing fuzzy reasoning on the difference value between the slip rate and the set slip rate and the change rate of the difference value, and determining a secondary PID regulating quantity;
and performing PID control on the tilling depth according to the difference value between the actual tilling depth and the target tilling depth and the change rate of the difference value, and adding the secondary PID regulating quantity and the secondary PID regulating quantity with the PID control parameter set value in the PID control process to obtain the PID control parameter.
In a second aspect, a tilling depth control system based on bit-force-slide primary and secondary grading is provided, comprising:
the data acquisition module is used for acquiring actual tilling depth, resistance and slip rate in the tractor tilling process;
the difference and difference change rate controller is used for respectively calculating the difference between the actual tilling depth and the target tilling depth and the difference change rate thereof, the difference between the resistance and the set resistance and the difference change rate thereof, and the difference between the slip rate and the set slip rate and the difference change rate thereof;
the resistance fuzzy controller is used for carrying out fuzzy reasoning on the difference value between the resistance and the set resistance and the change rate of the difference value, and determining the secondary PID regulating quantity;
the slip rate fuzzy controller is used for carrying out fuzzy reasoning on the difference value between the slip rate and the set slip rate and the change rate of the difference value, and determining the secondary PID regulating quantity;
and the tilling depth PID controller is used for carrying out PID control on the tilling depth according to the difference value between the actual tilling depth and the target tilling depth and the change rate of the difference value, and adding the secondary PID regulating quantity and the secondary PID regulating quantity with the set value of the PID control parameter in the PID control process to obtain the PID control parameter.
In a third aspect, an electronic device is provided that includes a memory and a processor, and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the steps recited in the bit-force-slide primary-secondary hierarchical based tilling depth control method.
In a fourth aspect, a computer readable storage medium is provided for storing computer instructions that, when executed by a processor, perform the steps recited in a bit-force-slide primary-secondary hierarchical based tilling depth control method.
Compared with the prior art, the invention has the beneficial effects that:
the invention respectively forms three factors affecting the uniformity of the tilling depth into three control loops, wherein the control factors of the main control loop are position factors, and the main control loop is used for directly controlling the actual height of the suspension mechanism, thereby realizing the purpose of adjusting the tilling depth. The control factors of the secondary control loop are resistance factors, the control factors of the secondary control loop are slip rate factors, and the secondary control loop realize indirect control of the suspension mechanism through multistage adjustment of PID control parameters in the primary control loop, so that hierarchical adjustment of the tilling depth is realized. The control method fully utilizes the compound interaction among multiple factors by dividing the main, auxiliary and secondary of the control loop, thereby achieving the purpose of improving the uniformity of the tilling depth.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application.
FIG. 1 is a control schematic diagram of the disclosed method of an embodiment;
FIG. 2 is a control flow diagram of the disclosed method of an embodiment;
FIG. 3 is a main stage control loop of the disclosed method;
FIG. 4 is a secondary control loop of the disclosed method;
FIG. 5 is a secondary control loop of the disclosed method of the embodiments;
FIG. 6 is tilling depth data obtained in the examples;
fig. 7 is slip rate data obtained in the example.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
In this embodiment, a tilling depth control method based on bit-force-slide primary-secondary grading is disclosed, as shown in fig. 1-7, comprising:
acquiring actual tilling depth, resistance and slip rate in the process of tractor tilling;
respectively calculating the difference value and the difference value change rate of the actual tilling depth and the target tilling depth, the difference value and the difference value change rate of the resistance and the set resistance, and the difference value change rate of the slip rate and the set slip rate;
performing fuzzy reasoning on the difference value between the resistance and the set resistance and the change rate of the difference value to determine the secondary PID regulating variable;
performing fuzzy reasoning on the difference value between the slip rate and the set slip rate and the change rate of the difference value, and determining a secondary PID regulating quantity;
and performing PID control on the tilling depth according to the difference value between the actual tilling depth and the target tilling depth and the change rate of the difference value, and adding the secondary PID regulating quantity and the secondary PID regulating quantity with the PID control parameter set value in the PID control process to obtain the PID control parameter.
According to the tilling depth control method based on the bit-force-sliding primary and secondary grading disclosed by the embodiment, three factors affecting tilling depth control, namely position, resistance and slip rate are considered, three control grades are divided according to the influence proportion of the three factors on tilling depth control, the position parameter directly affects the actual height of the suspension mechanism in the control system, so that the influence proportion of the position control on tilling depth control is maximum, the position control is set as primary control, and a primary loop formed by the position control directly controls the actual height of the suspension mechanism, so that tilling depth adjustment is realized. In the actual working process of the tractor, soil resistance is uneven and time-varying, and the soil resistance directly acts on the suspension mechanism, so that the actual position of the suspension mechanism is influenced, and the influence of soil resistance parameters on tilling depth is only inferior to position parameters, so that resistance control is set as secondary control, and a secondary loop formed by the resistance control does not participate in the direct regulation of the tilling depth, but realizes the secondary regulation of PID control parameters in a PID controller in a primary loop through a resistance fuzzy controller. The tractor driving wheel and the soil contact surface can generate certain slip, the slip rate can generate certain negative influence on the driving control and the working quality, the slip rate is also a key influence factor of the tilling depth control, compared with the position parameter and the resistance parameter, the slip rate parameter has the smallest influence on the tilling depth, so the slip rate control is set as secondary regulation, a secondary loop formed by the slip rate control does not participate in the direct regulation of the tilling depth, and the secondary regulation of the PID control parameter in the PID controller in the primary loop is realized through the slip fuzzy controller. As shown in fig. 1 and 2.
As shown in FIG. 4, in the secondary control loop, the difference e between the resistance and the set resistance is calculated F (t) and the rate of change of the difference Δe thereof F And (t) carrying out fuzzy reasoning on the difference value between the resistance and the set resistance and the change rate of the difference value by using the resistance fuzzy controller, and determining the secondary PID regulating quantity.
The resistance fuzzy controller uses the difference e between the resistance and the set resistance F (t) and the rate of change of the difference Δe thereof F (t) is input and output auxiliary PID adjustment quantity, including auxiliary proportional coefficient adjustment quantity delta k pF Adjustment amount Δk of secondary integral coefficient iF And a secondary differential coefficient adjustment amount Delak dF And constructing and obtaining by adopting a fuzzy reasoning control system.
In the embodiment, the force sensor is used for collecting the resistance born by the suspension mechanism in the cultivation process in real time, and the resistance signal collected by the force sensor is compared with the set resistance value to obtain e F (t) and Δe F (t)。
To calculate e F (t) and Δe F (t) input to the resistance fuzzy controller, output Δk pF 、Δk iF And Deltak dF ，Δk pF 、Δk iF And Deltak dF All are input into the PID controller for correcting the control parameters of the PID controller.
As shown in fig. 5, in the secondary control loop, a difference e between the slip ratio and the set slip ratio is calculated C (t) and the rate of change of the difference Δe thereof C (t) comparing the slip ratio with the set slip ratio by the slip fuzzy controller C (t) and the rate of change of the difference Δe thereof C And (t) performing fuzzy reasoning to determine the secondary PID adjustment quantity.
The slip fuzzy controller uses the difference e between the slip rate and the set slip rate C (t) and the rate of change of the difference Δe thereof C (t) as input, outputting a secondary PID adjustment quantity including a secondary scale factor adjustment quantity Δk pC Secondary integral coefficient adjustment amount ak iC And a secondary differential coefficient adjustment amount Δk dC And constructing and obtaining by adopting a fuzzy reasoning control system.
The rotation speed sensor is used for obtaining the rotation speed of the wheels in the tractor cultivation process, and the slip rate in the tractor cultivation process is determined according to the rotation speed of the wheels. Comparing the slip rate signal determined by the rotation speed with the set slip rate to obtain e C (t) and Δe C (t)。
To calculate e C (t) and Δe C (t) input to the slip fuzzy controller, output Δk pC 、Δk iC And Deltak dC ，Δk pC 、Δk iC And Deltak dC Are all input into a PID controller and delta k pF 、Δk iF And Deltak dF Together, the method is used for correcting the set value of the PID control parameter.
As shown in fig. 4, in the main control loop, a difference e between the actual tilling depth and the target tilling depth is calculated H (t) and the rate of change of the difference Δe thereof H (t), e H (t) and Δe H And (t) inputting the soil cultivation depth into a PID controller, and performing PID control on the soil cultivation depth. And in the PID control process, adding the secondary PID regulating quantity, the secondary PID regulating quantity and the PID control parameter set value to obtain PID control parameters, and performing PID control on the tractor through the PID control parameters to minimize the error between the actual tilling depth and the target tilling depth.
The PID controller is implemented byDifference e between tilling depth and target tilling depth H (t) and the rate of change of the difference Δe thereof H And (t) is used as an input, a control signal for adjusting the position of the suspension mechanism of the tractor is output, and the suspension mechanism is adjusted in position by the control signal, so that the error between the actual tilling depth and the target tilling depth is minimized.
Wherein, PID control parameter set values are set for the PID controller, including a proportional coefficient set value delta k pH Integral coefficient set point Δk iH And differential coefficient set value Δk dH Then the Δk is output through the slip fuzzy controller pC 、Δk iC And Deltak dC And Δk output by the resistance fuzzy controller pF 、Δk iF And Deltak dF Comparative example coefficient set value Δk pH Integral coefficient set point Δk iH And differential coefficient set value Δk dH Correcting to obtain PID control parameters including proportional coefficient k p Integral coefficient k i And differential coefficient k d 。
In this embodiment, the final PID control parameter is obtained by adding the secondary PID adjustment amount, the secondary PID adjustment amount and the PID control parameter set value, which is specifically:
in the embodiment, the position of the suspension mechanism is acquired through the position sensor, the actual tilling depth in the tilling process is obtained, and the actual tilling depth is compared with the set target tilling depth to obtain e H (t) and Δe H (t). Will e H (t) and Δe H (t) input into PID controller, through k p 、k i And k d PID control is carried out, an electro-hydraulic reversing valve control signal is output, the position of the electro-hydraulic reversing valve is controlled through the electro-hydraulic reversing valve control signal, the lifting quantity of the hydraulic lifting cylinder is further changed, and finally the position of the suspension mechanism is adjusted, so that the error between the actual tilling depth and the target tilling depth is minimized.
According to the method, when the tilling depth is controlled, three factors affecting the tilling depth uniformity can be considered simultaneously, primary, secondary and secondary grades are divided according to the specific gravity affecting the tilling depth uniformity, the tilling depth position factor with the largest influence on the tilling depth uniformity is designed in a primary control loop, the position height of a hanging mechanism is directly controlled by position control to directly control the tilling depth, resistance factors and slip rate factors are respectively designed in a secondary loop and a secondary loop, and PID control parameters are regulated in multiple steps by resistance control and slip rate control to indirectly regulate the position height of the hanging mechanism, so that the accuracy of tilling depth regulation is ensured. By testing and verifying the disclosed method and the PID control method for tilling depth, the test results are shown in fig. 6 and 7, and as can be seen from fig. 6 and 7, the tilling depth fluctuation range is smaller, the uniformity is obviously better than that of PID control, the tilling quality is good, and the slip rate is reduced to a certain extent.
Example 2
In this embodiment, a tilling depth control system based on bit-force-slide primary-secondary grading is disclosed, comprising:
the data acquisition module is used for acquiring actual tilling depth, resistance and slip rate in the tractor tilling process;
the difference and difference change rate controller is used for respectively calculating the difference between the actual tilling depth and the target tilling depth and the difference change rate thereof, the difference between the resistance and the set resistance and the difference change rate thereof, and the difference between the slip rate and the set slip rate and the difference change rate thereof;
the resistance fuzzy controller is used for carrying out fuzzy reasoning on the difference value between the resistance and the set resistance and the change rate of the difference value, and determining the secondary PID regulating quantity;
the slip rate fuzzy controller is used for carrying out fuzzy reasoning on the difference value between the slip rate and the set slip rate and the change rate of the difference value, and determining the secondary PID regulating quantity;
and the tilling depth PID controller is used for carrying out PID control on the tilling depth according to the difference value between the actual tilling depth and the target tilling depth and the change rate of the difference value, and adding the secondary PID regulating quantity and the secondary PID regulating quantity with the set value of the PID control parameter in the PID control process to obtain the PID control parameter.
Example 3
In this embodiment, an electronic device is disclosed that includes a memory and a processor, and computer instructions stored on the memory and running on the processor that, when executed by the processor, perform the steps recited in the bit-force-slide primary-secondary grading-based tilling depth control method disclosed in embodiment 1.
Example 4
In this embodiment, a computer readable storage medium is disclosed for storing computer instructions that, when executed by a processor, perform the steps described in the bit-force-slide primary-secondary grading-based tilling depth control method disclosed in embodiment 1.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (10)
1. The tilling depth control method based on the bit-force-slide primary and secondary grading is characterized by comprising the following steps:
acquiring actual tilling depth, resistance and slip rate in the process of tractor tilling;
respectively calculating the difference value and the difference value change rate of the actual tilling depth and the target tilling depth, the difference value and the difference value change rate of the resistance and the set resistance, and the difference value change rate of the slip rate and the set slip rate;
performing fuzzy reasoning on the difference value between the resistance and the set resistance and the change rate of the difference value to determine the secondary PID regulating variable;
performing fuzzy reasoning on the difference value between the slip rate and the set slip rate and the change rate of the difference value, and determining a secondary PID regulating quantity;
and performing PID control on the tilling depth according to the difference value between the actual tilling depth and the target tilling depth and the change rate of the difference value, and adding the secondary PID regulating quantity and the secondary PID regulating quantity with the PID control parameter set value in the PID control process to obtain the PID control parameter.
2. The bit-force-slide primary-secondary grading-based tilling depth control method according to claim 1, wherein the tractor is PID controlled by PID control parameters such that an error between an actual tilling depth and a target tilling depth is minimized.
3. The tilling depth control method based on the bit-force-slide primary and secondary grading according to claim 1, wherein the tilling depth is PID controlled by a PID controller, and the PID controller outputs a control signal for adjusting the position of the tractor suspension mechanism with a difference between the actual tilling depth and the target tilling depth and a rate of change of the difference thereof as inputs.
4. The method for controlling the tilling depth based on the bit-force-slide primary-secondary grading according to claim 1, wherein the rotation speed of the wheels in the tilling process of the tractor is obtained;
and determining the slip rate of the tractor in the process of tillage according to the rotation speed of the wheels.
5. The method for controlling the tilling depth based on bit-force-slide primary and secondary grading according to claim 1, wherein the secondary PID adjustment is determined by fuzzy reasoning on the difference between the resistance and the set resistance and the change rate of the difference by a resistance fuzzy controller;
and carrying out fuzzy reasoning on the difference value between the slip rate and the set slip rate and the difference value change rate thereof by a slip fuzzy controller to determine the secondary PID regulating quantity.
6. The method for controlling the tilling depth based on bit-force-slide major-minor grading according to claim 1, wherein the resistance fuzzy controller takes a difference between resistance and set resistance and a change rate of the difference as input, outputs minor-grade PID adjustment quantity, and comprises a minor-grade proportionCoefficient adjustment amount Δk pF Adjustment amount Δk of secondary integral coefficient iF And a secondary differential coefficient adjustment amount Delak dF The fuzzy inference control system is adopted for construction and acquisition;
the slip fuzzy controller takes the difference value between the slip rate and the set slip rate and the change rate of the difference value as input, outputs a secondary PID regulating quantity comprising a secondary proportion coefficient regulating quantity delta k pC Secondary integral coefficient adjustment amount ak iC And a secondary differential coefficient adjustment amount Δk dC And constructing and obtaining by adopting a fuzzy reasoning control system.
7. The bit-force-slide primary and secondary grading-based tilling depth control method according to claim 6, wherein the PID control parameters include a scaling factor k p Integral coefficient k i And differential coefficient k d ，
Wherein Deltak is pH For the set value of the proportionality coefficient, deltak iH For the integral coefficient set value Δk dH For setting the differential coefficient delta k dH 。
8. The utility model provides a tilling depth control system based on position-power-smooth major-minor hierarchical which characterized in that includes:
the data acquisition module is used for acquiring actual tilling depth, resistance and slip rate in the tractor tilling process;
the difference and difference change rate controller is used for respectively calculating the difference between the actual tilling depth and the target tilling depth and the difference change rate thereof, the difference between the resistance and the set resistance and the difference change rate thereof, and the difference between the slip rate and the set slip rate and the difference change rate thereof;
the resistance fuzzy controller is used for carrying out fuzzy reasoning on the difference value between the resistance and the set resistance and the change rate of the difference value, and determining the secondary PID regulating quantity;
the slip rate fuzzy controller is used for carrying out fuzzy reasoning on the difference value between the slip rate and the set slip rate and the change rate of the difference value, and determining the secondary PID regulating quantity;
and the tilling depth PID controller is used for carrying out PID control on the tilling depth according to the difference value between the actual tilling depth and the target tilling depth and the change rate of the difference value, and adding the secondary PID regulating quantity and the secondary PID regulating quantity with the set value of the PID control parameter in the PID control process to obtain the PID control parameter.
9. An electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the steps of the bit-force-slide primary-secondary grading-based tilling depth control method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions which, when executed by a processor, perform the steps of the bit-force-slide primary-secondary hierarchical based tilling depth control method of any one of claims 1-7.
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