CN118068690B - PID transport based on improved SSA algorithm optimization platform single-degree-of-freedom leveling control system and method - Google Patents
PID transport based on improved SSA algorithm optimization platform single-degree-of-freedom leveling control system and method Download PDFInfo
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Abstract
The invention provides a PID (proportion integration differentiation) transfer platform single-degree-of-freedom leveling control system and method based on improved SSA algorithm optimization, which belong to the field of intelligent agricultural machinery equipment, wherein the leveling control system carries out leveling operation in real time by a central processing unit based on PID control, a peacock population is initialized by using a beta function, the initial population is ensured to be more uniformly distributed in a final target space, then dynamic self-adaptive weights are introduced to optimize global searching of the SSA algorithm, local optimality is prevented from being trapped in the SSA operation process, deviation between a fixed platform and a ground preset angle is taken as input, a control instruction is issued based on a result obtained by the improved SSA algorithm, the angle of the fixed platform is changed by adjusting hydraulic cylinders arranged around the fixed platform, automatic leveling control is realized, and the transportation stability and safety of agricultural machinery are ensured.
Description
Technical Field
The invention belongs to the field of intelligent agricultural machinery equipment, and particularly relates to a PID (proportion integration differentiation) transfer platform single-degree-of-freedom leveling control system and method based on improved SSA (automatic sensor analysis) algorithm optimization.
Background
The hilly and mountain areas can be divided into low mountains, hills (the gradient is more than 10-25 degrees) and hills (the gradient is 3-10 degrees) according to the landform types, and are mainly characterized by rugged ground surface, more sloping fields, larger gradient and shallow soil layers, and are unfavorable for the transportation operation of agricultural machinery equipment. Therefore, on the basis of the research of the mountain track transportation and the track transportation platform, a transportation platform which can be adaptively leveled and is used for transporting agricultural machinery and other equipment in hilly areas is required to be developed, so that the agricultural mechanization rate of hilly and mountain areas is indirectly improved. However, most leveling systems still have the problems of low leveling precision, long leveling time and the like, have no self-adaptive capacity, are mainly controlled based on PID algorithm, have key control performance in that parameters are set to an optimal state, and can be classified into a combination optimization problem for obtaining optimal parameter combinations, and a Sparrow Search Algorithm (SSA) is widely applied to leveling control due to the advantages of high flexibility, easiness in learning and the like, but has the problems of single initial population position, weak comprehensive optimizing capacity and easiness in sinking into local optimization. Therefore, the invention designs a PID (proportion integration differentiation) transfer platform single-degree-of-freedom leveling control system and method based on improved SSA algorithm optimization.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a PID (proportion integration differentiation) transfer platform single-degree-of-freedom leveling control system and method based on improved SSA algorithm optimization, and solves the problems of single initial population position, weak comprehensive optimizing capability, easy local optimum sinking and the like existing in the traditional algorithm processing.
The present invention achieves the above technical object by the following technical means.
A PID (proportion integration differentiation) transfer platform single-degree-of-freedom leveling control system based on improved SSA algorithm optimization is formed by leveling a central processing unit based on PID control, and comprises a fixed platform, a leveling device and a sensing module; the fixed platform comprises a fixed platform main body, a front baffle is fixedly arranged at the front end of the fixed platform main body, a tail plate with an adjustable angle is arranged at the rear end of the fixed platform main body, a normal limiting block and a hidden limiting block are arranged in sliding grooves on two sides of the central axis of the fixed platform main body in a sliding manner, and the hidden limiting block is close to the tail plate; the leveling device comprises hydraulic cylinders symmetrically distributed on two sides of the fixed platform main body and close to four corners, a hydraulic cylinder base is fixed on the chassis platform, the top of a hydraulic cylinder piston rod of each hydraulic cylinder is hinged with a lifting rod, and the other end of the lifting rod is hinged to the bottom of the fixed platform main body; the sensing module comprises an inclination angle sensor arranged on the upper surface of the fixed platform main body, a hydraulic cylinder displacement sensor arranged on a hydraulic cylinder piston rod, and a front-back type proximity pressure sensor arranged on the normal limiting block and the hidden limiting block; the sensing module is communicated with the central processing unit through the A/D converter.
Further, a rectangular groove with the size matched with the hidden limiting block is formed in the sliding groove end close to the tail plate, one end of the bottom of the hidden limiting block is hinged to the front end of the limiting block jacking device, the other end of the bottom of the hidden limiting block is hinged to the limiting block jacking device through a double-connecting-rod structure, a hydraulic rod is mounted at the lower portion of the limiting block jacking device, the telescopic end of the hydraulic rod is connected with a shaft in the middle of the double-connecting-rod structure, and the hydraulic rod stretches out of the rectangular groove or is retracted into the rectangular groove.
Further, a hidden limiting block support is arranged at the bottom of the limiting block jacking device, a roller is arranged at one end of the hidden limiting block support, the other end of the hidden limiting block support is connected with a transmission rack A, and a roller is also arranged at the bottom of the transmission rack A and is positioned on a track; the transmission rack A is meshed with the straight gear A for transmission, and the straight gear A is fixedly arranged at the power output end of the direct current motor A.
Further, the bottom of the normal limiting block is fixed on a limiting block connecting rod, one end of the limiting block connecting rod is connected with a transmission rack B, the other end of the limiting block connecting rod is connected with a pulley bracket, rollers are arranged at the bottom of the transmission rack B and the bottom of the pulley bracket, and the rollers are positioned on a track; the transmission rack B is meshed with the straight gear B for transmission, and the straight gear B is arranged at the power output end of the direct current motor B.
Further, an electric winch is arranged on the front baffle plate, and the electric winch is connected with a hook lock; the back of the tail plate is hinged with the telescopic end of the tail plate hydraulic cylinder, the base of the tail plate hydraulic cylinder is fixed on the tail plate support, the tail plate support is fixed at the rear end of the fixed platform main body, and the tail plate hydraulic cylinder pulls up or puts down the tail plate through the extension or shortening of the piston rod.
Further, the normal limiting block and the hidden limiting block are isosceles triangle structures with one side being in an inner arc shape.
The single-degree-of-freedom leveling control method for the transfer platform by utilizing the PID transfer platform single-degree-of-freedom leveling control system optimized based on the improved SSA algorithm comprises the following steps:
Step 1: under the comprehensive control of a central processing unit, firstly, a direct current motor A and a hydraulic rod work to drive a hidden limiting block to move and retract into a rectangular groove, a tail plate hydraulic cylinder retracts to drive a tail plate to descend, a driver opens an agricultural implement on a fixed platform, a hook lock is connected with the agricultural implement, and the agricultural implement enters a main body of the fixed platform;
then, the hydraulic rod drives the hidden limiting block to lift and extend out of the rectangular groove, the hidden limiting block and the common limiting block are controlled by the direct current motor A and the direct current motor B to slide along the sliding groove and approach the agricultural implement, the central processing unit judges whether to clamp the agricultural implement or not based on the monitoring data of the front-back approach pressure sensor, and the direct current motor A and the direct current motor B stop working after clamping; the tail plate hydraulic cylinder extends out, and the tail plate is retracted;
step 2: connecting the fixed platform with an external power device, driving the fixed platform to integrally move on a double-track, and transferring agricultural implements;
Step 3: in the process of transferring agricultural machinery, a central processor performs leveling operation in real time based on PID control, and the central processor receives data transmitted by an inclination sensor and a hydraulic cylinder displacement sensor in real time to acquire inclination data and hydraulic cylinder displacement data of a fixed platform main body;
step 4: the central processing unit sets a response threshold according to the leveling control requirement, and constructs an SSA function;
Step 5: the central processing unit takes the deviation between the preset angles of the fixed platform main body and the ground as input based on PID control, issues a control instruction based on the result obtained by an improved SSA algorithm, changes the angle of the fixed platform main body by adjusting four hydraulic cylinders, realizes leveling control on the fixed platform main body, and feeds back the detected angle signal to the central processing unit again by the inclination angle sensor after leveling is finished, so that the operation is repeated until the levelness requirement is met.
Further, in the step 5, the improvement of the SSA algorithm means initializing the sparrow population with the beta function, introducing the dynamic self-adaptive weight ω, and optimizing the SSA algorithm global search, and the specific optimization method is as follows:
step 5.1: initializing a beta function: generating an initialization position of the sparrow population in the solution space by using an initialization beta function, wherein the beta function is adopted by beta distribution, and a calculation formula is as follows:
wherein P, M is two positive real parameters; x is sparrow individual in solution space;
a feasible solution is generated by the beta function in the solution space range, expressed as:
X＝[x1,x2,x3,…xd]
Wherein, x 1、x2、x3、xd is respectively expressed as different sparrow individuals, namely variables of different optimization problems;
Inverse solution obtains an initialized feasible solution X' in solution space:
X′＝[x1′,x′2,x3′,…x′d]
wherein x 1′、x′2、x3′、x′d represents different sparrow individuals in the feasible solution respectively;
Step 5.2: adding dynamic self-adaptive weight omega into the SSA model to optimize the global searching capability of the SSA algorithm:
Wherein, omega 0 initial weight; omega e is the final weight; delta epsilon [0,1], delta is a random number; e is a natural constant; t max is the maximum number of cycles.
The invention has the following beneficial effects:
The PID transfer platform single-degree-of-freedom leveling control method based on improved SSA algorithm optimization, which is designed by the invention, can greatly improve the safety performance of the transfer platform in the running process, has considerable global searching and local searching capabilities, ensures the optimal solution of a searching result, and can ensure dynamic self-adaptive weight omega to dynamically adjust by adding a random number delta so as to accelerate algorithm convergence, thereby solving the problems of single initial population position, weak comprehensive optimizing capability, easy sinking into local optimization and the like existing in the traditional algorithm processing.
Drawings
FIG. 1 is a schematic diagram of the overall three-dimensional structure of a PID transfer platform single degree of freedom leveling control system in a tail plate stowed state;
FIG. 2 shows a single degree of freedom of the PID transfer platform in the tailgate open position a leveling control system overall three-dimensional structure schematic diagram;
FIG. 3 shows a stationary platform body a three-dimensional structure schematic;
FIG. 4 is a schematic view of the installation of the leveling device with the fixed platform body;
FIG. 5 is a schematic view of a hidden stopper installation;
FIG. 6 is a schematic diagram of a dual link configuration;
FIG. 7 is a schematic view of the normal stop block installation;
FIG. 8 is a schematic diagram of a PID transfer platform single degree of freedom leveling control system;
FIG. 9 is a schematic diagram of the operation of the PID transfer platform single degree of freedom leveling control system on a dual rail track;
In the figure: 1-a fixed platform body; 2-a front baffle; 3-an electric hoist; 4-hooking lock; 5-tail plate; 6-a tailboard hydraulic cylinder; 7-a tailboard bracket; 8-a hydraulic cylinder; 9-a hydraulic cylinder piston rod; 10-lifting rod; 11-a transmission rack B; 12-spur gear B; 13-a chassis platform; 14-a hidden limiting block bracket; 15-a hidden limiting block; 16-a normal limiting block; 17-sliding grooves; 18-direct current motor A; 19-a transmission rack A; 20-farm machinery; 21-a double track; 22-power plant; 23-limiting a block connecting rod; 24-track; 25-a limiting block jacking device; 26-double link structure; 27-a hydraulic rod; 28-spur gear a; 29-dc motor B.
Detailed Description
The invention will be further described with reference to the drawings and the specific embodiments, but the scope of the invention is not limited thereto.
As shown in fig. 9, the single-degree-of-freedom leveling control system of the PID transfer platform optimized based on the improved SSA algorithm is integrally positioned on a double-track rail 21 and connected with a power device 22 to drive the walking transfer agricultural implement 20, and in the transfer process, a central processing unit performs leveling operation based on PID control in real time. The PID transfer platform single-degree-of-freedom leveling control system based on improved SSA algorithm optimization comprises a fixed platform, a leveling device and a sensing module.
As shown in fig. 1 and 2, the fixed platform is responsible for carrying the transported agricultural implement 20 and providing clamping and limiting functions; the fixed platform comprises a fixed platform main body 1, a front baffle plate 2, an electric winch 3, a hook lock 4, a tail plate 5, a tail plate hydraulic cylinder 6 and a tail plate bracket 7.
As shown in fig. 1 and 2, a front baffle 2 and a tail plate 5 are respectively mounted at the front and rear ends of a fixed platform main body 1. The front baffle plate 2 is fixedly arranged on one side of the upper surface of the fixed platform main body 1, so that the agricultural implement 20 is prevented from rushing down the platform due to failure of a limiting block in the downhill process; install electronic hoist engine 3 on the front bezel 2, electronic hoist engine 3 is connected with hook lock 4, can provide pulling force for hook lock 4, in the use of transportation platform, utilizes hook lock 4 to hook agricultural implement 20, provides traction force for agricultural implement data when agricultural implement 20 is transported the platform and transportation platform carries out the transportation work of uphill and downhill from top to bottom, prevents that agricultural implement 20 from dashing transportation platform and causing danger.
As shown in fig. 1 and 2, the back of the tail plate 5 is hinged to the telescopic end of the tail plate hydraulic cylinder 6, the base of the tail plate hydraulic cylinder 6 is fixed on the tail plate support 7, the tail plate support 7 is fixed at the rear end of the fixed platform main body 1, the tail plate hydraulic cylinder 6 pulls up or puts down the tail plate 5 through the extension or shortening of a piston rod, the up-and-down transportation of the farm machinery 20 is facilitated, and in the ascending process, some protection effects can be achieved, and the tail plate hydraulic cylinder is matched with the fixed platform main body 1, the electric winch 3 and the hook lock 4 to complete the fixation of the farm machinery 20.
As shown in fig. 3, four limiting blocks are further arranged on the fixed platform main body 1 and are respectively arranged in the sliding grooves 17 on two sides of the central axis, one side of each limiting block is of an isosceles triangle structure with an inner arc, and the contact area between each limiting block and the wheel of the wheel-type agricultural implement 20 can be increased due to the inward concave arc shape, so that the stability of fixing the wheel-type agricultural implement 20 is improved; the limiting block comprises two normal limiting blocks 16 and two hidden limiting blocks 15, and the two hidden limiting blocks 15 are close to the tail plate 5.
As shown in fig. 4 and 7, the bottom of the constant limiting block 16 is fixed on a limiting block connecting rod 23, one end of the limiting block connecting rod 23 is connected with a transmission rack B11, the other end of the limiting block connecting rod is connected with a pulley bracket, rollers are arranged at the bottoms of the transmission rack B11 and the pulley bracket, and the rollers are positioned on a track 24; the transmission rack B11 is meshed with the spur gear B12 for transmission, the spur gear B12 is fixedly arranged at the power output end of the direct current motor B29, and the direct current motor B29 drives the spur gear B to rotate, so that the transmission rack B11 is driven to do linear motion along the track 24, and the constant limiting block 16 is driven to move in the chute 17. As shown in fig. 4,5 and 6, the bottom of the hidden limiting block 15 is directly hinged with the front end of the limiting block jacking device 25 on the one hand, and is hinged with the limiting block jacking device 25 through a double-link structure 26 on the other hand, a hydraulic rod 27 is installed at the lower part of the limiting block jacking device 25, the telescopic end of the hydraulic rod 27 is connected with a shaft in the middle of the double-link structure 26, and the hydraulic rod 27 can drive the hidden limiting block 15 to stretch out or retract through telescopic movement of the hydraulic rod 27; the bottom of the limiting block jacking device 25 is provided with a hidden limiting block bracket 14, one end of the hidden limiting block bracket 14 is provided with a roller, the other end of the hidden limiting block bracket is connected with a transmission rack A19, the bottom of the transmission rack A19 is also provided with a roller, and the roller is positioned on a track 24; the transmission rack A19 and the spur gear A28 are meshed for transmission, the spur gear A28 is fixedly arranged at the power output end of the direct current motor A18, and is driven to rotate by the direct current motor A18, so that the transmission rack A19 is driven to do linear motion along the track 24, and the hidden limiting block 15 is driven to move in the chute 17. In practical application, the hidden limiting block 15 can be retracted by the limiting block jacking device 25 and hidden in the rectangular groove at the end part of the sliding groove 17, so that the agricultural implement 20 can enter the fixed platform.
As shown in fig. 1,2,3 and 4, the leveling device comprises a hydraulic cylinder 8, a hydraulic cylinder piston rod 9 and a lifting rod 10. The four hydraulic cylinders 8 are symmetrically distributed at two sides of the fixed platform main body 1 and close to four corners, the bases of the hydraulic cylinders 8 are fixed on the chassis platform 13, the extension or contraction of the hydraulic cylinder piston rods 9 is adjusted through oil inlet and outlet, and the hydraulic cylinder piston rods 9 and the hydraulic cylinders 8 are integrated; the lifting rod 10 is hinged to the top of each hydraulic cylinder piston rod 9, the other end of the lifting rod 10 is hinged to the bottom of the fixed platform main body 1, and the hydraulic cylinders 8 and the hydraulic cylinder piston rods 9 transmit lifting force through the lifting rods 10, so that the leveling function of the transfer platform is achieved.
The sensing module comprises an inclination angle sensor, a hydraulic cylinder displacement sensor and a front-back type approaching pressure sensor. The inclination angle sensors are arranged at the positions, close to the front end and the rear end, of the upper surface of the fixed platform main body 1 and are located on the central line of the fixed platform main body 1 and used for measuring the inclination angle of the fixed platform main body 1. The four hydraulic cylinder displacement sensors are respectively arranged on four symmetrical hydraulic cylinder piston rods 9 and are used for detecting the moving distance of the hydraulic pistons. The front-back approach pressure sensors are four and are respectively arranged on the four limiting blocks for assisting in judging whether the limiting blocks clamp the agricultural implement 20. The inclination sensor, the hydraulic cylinder displacement sensor and the front-back type approaching pressure sensor are communicated with the central processing unit through the A/D converter, inclination data of the fixed platform main body 1, displacement signals of the hydraulic cylinder piston rod 9 and the like are transmitted to the central processing unit, and the central processing unit analyzes and processes the inclination data, the hydraulic cylinder displacement sensor and the front-back type approaching pressure sensor, then issues control instructions and controls corresponding parts of the transfer platform to move.
The PID transfer platform single-degree-of-freedom leveling control method utilizing the PID transfer platform single-degree-of-freedom leveling control system optimized based on the improved SSA algorithm comprises the following steps:
Step 1: under the comprehensive control of a central processing unit, firstly, under the drive of a direct current motor A18 and a hydraulic rod 27, a hidden limiting block 15 moves to the end point of a chute 17 and is retracted into a rectangular groove, then a tail plate hydraulic cylinder 6 retracts to drive a tail plate 5 to descend, then a driver drives an agricultural implement 20 into a fixed platform main body 1, and meanwhile, a hook lock 4 is connected with the agricultural implement 20, and the agricultural implement 20 enters the fixed platform main body 1;
After the agricultural implement 20 enters the fixed platform main body 1, the hydraulic rod 27 drives the hidden limiting block 15 to be lifted and extend out of the rectangular groove, then the hidden limiting block 15 and the normal limiting block 16 are controlled by the direct current motor A18 and the direct current motor B29 to slide along the sliding groove 17 and approach the agricultural implement 20, the central processing unit judges whether to clamp the agricultural implement 20 or not based on the monitoring data of the front-back approach pressure sensor, and the direct current motor A18 and the direct current motor B29 stop working after clamping; the tail plate hydraulic cylinder 6 stretches out to drive the tail plate 5 to retract.
Step 2: as shown in fig. 8 and 9, the fixed platform is connected to a power unit 22, and the whole is driven to move on a double-rail track 21 to transport the agricultural implement 20.
Step 3: in the process of transferring the agricultural machinery 20, the central processing unit performs leveling operation in real time based on PID control, and the central processing unit receives data transmitted by the inclination angle sensor and the hydraulic cylinder displacement sensor in real time so as to acquire inclination angle data of the fixed platform main body 1 and displacement data of the hydraulic cylinder 8;
Step 4: the central processing unit sets a response threshold according to the leveling control requirement, and constructs a function of a sparrow search algorithm (Sparrow Search Algorithm, SSA):
step 4.1: setting a sparrow population consisting of n sparrows as follows:
Wherein d is the variable dimension of the optimization problem; all represent sparrow individuals.
Step 4.2: initializing the sparrow population position and fitness:
wherein f is an fitness value; f x is a matrix formed by individual fitness of different sparrows; fitness for individual one; Fitness for individual two; the fitness of the individual n.
Step 4.3: obtaining the current optimal individual position and the optimal fitness;
step 4.4: updating the finder position:
Wherein t is the number of cycles; i. j represents the ith row and the jth column respectively; q is a random number obeying normal distribution; l is a 1×d matrix, wherein each element is 1; the updated position for the t+1st cycle; the position at the time of the t-th cycle update; alpha is E [0,1], alpha is a random number; t max is the maximum number of cycles; r 2 and S T are respectively an early warning value and a safety value; when R 2<ST, search actions continue to be performed, and when R 2≥ST, foraging is abandoned and anti-predation actions are performed.
Step 4.5: updating predator positions:
In the method, in the process of the invention, Global worst position at the t-th cycle; Is the optimal position at the t+1st cycle; a is a matrix of 1×d, and the random amplitude is 1 or-1, A +＝AT(AAT)-1.
Step 4.6: updating the scout location:
In the method, in the process of the invention, The optimal position is the t time iteration; beta is the step length; f i is the fitness value at this time; f g is the optimal fitness; f w is the worst fitness; lambda epsilon [0,1], lambda is a random number; sigma is a constant.
Step 4.7: and calculating the fitness and updating the sparrow position.
Step 4.8: judging the circulation condition: if the condition is met, outputting a target parameter; and otherwise, repeatedly executing the operations from the step 4.2 to the step 4.7.
Step 5: the central processing unit takes the deviation between the fixed platform main body 1 and the ground preset angle as input based on PID control, issues a control instruction based on the result obtained by an improved SSA algorithm, changes the angle of the fixed platform main body 1 by adjusting four hydraulic cylinders 8, realizes leveling control on the fixed platform, and feeds back the detected angle signal to the central processing unit again by the inclination angle sensor after the leveling is finished, so that the operation is repeated until the levelness requirement is met;
the improved SSA algorithm optimizes the initial position and global searching capability of the sparrow population, specifically, the sparrow population is initialized by using a beta function, the initial population is ensured to be more uniformly distributed in a final target space, and then a dynamic self-adaptive weight omega is introduced to optimize the global searching of the SSA algorithm, so that the sparrow population is prevented from being trapped into local optimum in the SSA operation process, and the specific optimization method is as follows:
step 5.1: initializing a beta function: generating an initialization position of a sparrow population in a solution space by using an initialization beta function, wherein beta function is adopted for beta distribution, also called as a B function, so as to meet the requirements of continuity and symmetry, and the calculation formula is as follows:
wherein P, M is two positive real parameters; x is the individual sparrows in the solution space.
A feasible solution is generated by the beta function in the solution space range, expressed as:
X＝[x1,x2,x3,…xd]
Where x 1、x2、x3、xd is expressed as the variable of different sparrow individuals, i.e. different optimization problems, respectively. Inverse solution obtains an initialized feasible solution X' in solution space:
X′＝[x1′,x′2,x3′,…x′d]
wherein x 1′、x′2、x3′、x′d represents different sparrow individuals in the feasible solution respectively;
Step 5.2: adding dynamic self-adaptive weight omega into the SSA model to optimize the global searching capability of the SSA algorithm:
Wherein, omega 0 initial weight; omega e is the final weight; delta epsilon [0,1], delta is a random number; e is a natural constant; t max is the maximum number of cycles.
For the SSA searching algorithm, the numerical value of the dynamic self-adaptive weight omega is larger in the early stage, so that the global searching of the SSA algorithm can be ensured to be more sufficient; and in the later stage of SSA searching, the dynamic self-adaptive weight omega is reduced, so that the local searching capability can be enhanced, and the optimal solution of the searching result is ensured. In addition, the random number delta is added to ensure dynamic adjustment of the dynamic self-adaptive weight omega, so that algorithm convergence is quickened.
The connection and working principle of the double-track rail 21 and the power device 22 are all adopted in the prior art, and the key point of the invention is not how the power device 22 drives the leveling control system to integrally move based on the double-track rail 21, but leveling, so that the connection and working principle of the double-track rail 21 and the power device 22 with the invention are not repeated. The examples are preferred embodiments of the present invention, but the present invention is not limited to the above-described embodiments, and any obvious modifications, substitutions or variations that can be made by one skilled in the art without departing from the spirit of the present invention are within the scope of the present invention.
Claims (1)
1. The single-degree-of-freedom leveling control method for the transfer platform by utilizing the single-degree-of-freedom leveling control system of the PID transfer platform optimized based on the improved SSA algorithm is characterized by comprising a fixed platform, a leveling device and a sensing module, wherein the single-degree-of-freedom leveling control system of the PID transfer platform is leveled by a central processing unit based on PID control; the fixed platform comprises a fixed platform main body (1), a front baffle (2) is fixedly arranged at the front end of the fixed platform main body (1), an angle-adjustable tail plate (5) is arranged at the rear end of the fixed platform main body, a normal limiting block (16) and a hidden limiting block (15) are arranged in sliding grooves (17) on two sides of the central axis of the fixed platform main body (1) in a sliding mode, and the hidden limiting block (15) is close to the tail plate (5); the leveling device comprises hydraulic cylinders (8) symmetrically distributed at two sides of the fixed platform main body (1) and close to four corners, the bases of the hydraulic cylinders (8) are fixed on the chassis platform (13), the top of a hydraulic cylinder piston rod (9) of each hydraulic cylinder (8) is hinged with a lifting rod (10), and the other end of the lifting rod (10) is hinged at the bottom of the fixed platform main body (1); the sensing module comprises an inclination angle sensor arranged on the upper surface of the fixed platform main body (1), a hydraulic cylinder displacement sensor arranged on a hydraulic cylinder piston rod (9), and front-back type proximity pressure sensors arranged on a normal limiting block (16) and a hidden limiting block (15); the sensing module is communicated with the central processing unit through the A/D converter;
A rectangular groove with the size matched with that of the hidden limiting block (15) is formed at the end of the sliding groove (17) close to the tail plate (5), one end of the bottom of the hidden limiting block (15) is hinged with the front end of the limiting block jacking device (25), the other end of the bottom of the hidden limiting block is hinged with the limiting block jacking device (25) through a double-connecting-rod structure (26), a hydraulic rod (27) is arranged at the lower part of the limiting block jacking device (25), the telescopic end of the hydraulic rod (27) is connected with a shaft in the middle of the double-connecting-rod structure (26), and the hydraulic rod (27) stretches to drive the hidden limiting block (15) to stretch out of the rectangular groove or retract into the rectangular groove;
A hidden limiting block bracket (14) is arranged at the bottom of the limiting block jacking device (25), a roller is arranged at one end of the hidden limiting block bracket (14), the other end of the hidden limiting block bracket is connected with a transmission rack A (19), and a roller is also arranged at the bottom of the transmission rack A (19) and is positioned on a track (24); the transmission rack A (19) is meshed with the straight gear A (28) for transmission, and the straight gear A (28) is fixedly arranged at the power output end of the direct current motor A (18);
the bottom of the constant limiting block (16) is fixed on a limiting block connecting rod (23), one end of the limiting block connecting rod (23) is connected with a transmission rack B (11), the other end of the limiting block connecting rod is connected with a pulley bracket, rollers are arranged at the bottoms of the transmission rack B (11) and the pulley bracket, and the rollers are positioned on a track (24); the transmission rack B (11) is meshed with the straight gear B (12) for transmission, and the straight gear B (12) is fixedly arranged at the power output end of the direct current motor B (29);
An electric winch (3) is arranged on the front baffle (2), and the electric winch (3) is connected with a hook lock (4); the back of the tail plate (5) is hinged with the telescopic end of the tail plate hydraulic cylinder (6), the base of the tail plate hydraulic cylinder (6) is fixed on a tail plate bracket (7), the tail plate bracket (7) is fixed at the rear end of the fixed platform main body (1), and the tail plate hydraulic cylinder (6) pulls up or puts down the tail plate (5) through the extension or shortening of a piston rod;
The normal limiting block (16) and the hidden limiting block (15) are isosceles triangle structures with one side being in an inner arc shape;
single degree of freedom leveling of transfer platform the control method comprises the following steps:
Step 1: under the comprehensive control of a central processing unit, firstly, a direct current motor A (18) and a hydraulic rod (27) work to drive a hidden limiting block (15) to move and retract into a rectangular groove, a tail plate hydraulic cylinder (6) retracts to drive a tail plate (5) to descend, a driver opens an agricultural implement (20) on a fixed platform, a hook lock (4) is connected with the agricultural implement (20), and the agricultural implement (20) enters a fixed platform main body (1);
Then, the hydraulic rod (27) drives the hidden limiting block (15) to lift and extend out of the rectangular groove, the hidden limiting block (15) and the normal limiting block (16) are controlled by the direct current motor A (18) and the direct current motor B (29) to slide along the sliding groove (17) and approach the agricultural implement (20), the central processing unit judges whether to clamp the agricultural implement (20) or not based on the monitoring data of the front-back approach pressure sensor, and the direct current motor A (18) and the direct current motor B (29) stop working after clamping; the tail plate hydraulic cylinder (6) stretches out, and the tail plate (5) is retracted;
Step 2: connecting the fixed platform with an external power device (22), driving the fixed platform to integrally move on a double-track (21) by the fixed platform, and transferring agricultural implements (20);
Step 3: in the process of transferring the agricultural machinery (20), a central processing unit performs leveling operation in real time based on PID control, and the central processing unit receives data transmitted by an inclination sensor and a hydraulic cylinder displacement sensor in real time to acquire inclination data of a fixed platform main body (1) and displacement data of a hydraulic cylinder (8);
step 4: the central processing unit sets a response threshold according to the leveling control requirement, and constructs an SSA function;
Step 5: the central processing unit takes the deviation between the fixed platform main body (1) and the ground preset angle as input based on PID control, issues a control instruction based on the result obtained by an improved SSA algorithm, changes the angle of the fixed platform main body (1) by adjusting four hydraulic cylinders (8), realizes the leveling control of the fixed platform main body (1), and feeds back the detected angle signal to the central processing unit again after the leveling is finished, so that the fixed platform main body (1) is reciprocated until the levelness requirement is met;
in the step 5, the improvement of the SSA algorithm means initializing the sparrow population by using the beta function, introducing the dynamic self-adaptive weight omega, and optimizing the global search of the SSA algorithm, wherein the specific optimization method is as follows:
step 5.1: initializing a beta function: generating an initialization position of the sparrow population in the solution space by using an initialization beta function, wherein the beta function is adopted by beta distribution, and a calculation formula is as follows:
wherein P, M is two positive real parameters; x is sparrow individual in solution space;
A feasible solution X is generated by the beta function in the solution space range, expressed as:
X＝[x1,x2,x3,…xd]
Wherein, x 1、x2、x3、xd is respectively expressed as different sparrow individuals, namely variables of different optimization problems;
Inverse solution obtains an initialized feasible solution X' in solution space:
X′＝[x1′,x′2,x3′,…x′d]
wherein x 1′、x′2、x3′、x′d represents different sparrow individuals in the feasible solution respectively;
Step 5.2: adding dynamic self-adaptive weight omega into the SSA model to optimize the global searching capability of the SSA algorithm:
wherein ω 0 is an initial weight; omega e is the final weight; delta epsilon [0,1], delta is a random number; e is a natural constant; t max is the maximum number of cycles; the updated position for the t+1st cycle; The position at the time of the t-th cycle update; i. j represents the ith row and the jth column respectively; alpha is E [0,1], alpha is a random number; r 2 and S T are respectively an early warning value and a safety value; q is a random number obeying normal distribution; l is a1×d matrix, where each element is 1 and d is the variable dimension of the optimization problem;
the specific process of the step 4 is as follows:
Step 4.1: setting a sparrow population x consisting of n sparrows as:
Wherein d is the variable dimension of the optimization problem; All represent sparrow individuals;
Step 4.2: initializing the sparrow population position and fitness:
wherein f is an fitness value; f x is a matrix formed by individual fitness of different sparrows; fitness for individual one; Fitness for individual two; Fitness for individual n;
Step 4.3: obtaining the current optimal individual position and the optimal fitness;
step 4.4: updating the finder position:
wherein t is the number of cycles; i. j represents the ith row and the jth column respectively; q is a random number obeying normal distribution; l is a matrix of 1×d, each element being 1; the updated position for the t+1st cycle; The position at the time of the t-th cycle update; alpha is E [0,1], alpha is a random number; t max is the maximum number of cycles; r 2 and S T are respectively an early warning value and a safety value;
step 4.5: updating predator positions:
In the method, in the process of the invention, Global worst position at the t-th cycle; Is the optimal position at the t+1st cycle; a is a matrix of 1×d, the random amplitude is 1 or-1, A +＝AT(AAT)-1;
Step 4.6: updating the scout location:
In the method, in the process of the invention, The optimal position is the t time iteration; beta is the step length; f i is the fitness value at this time; f g is the optimal fitness;
f w is the worst fitness; lambda epsilon [0,1], lambda is a random number; sigma is a constant;
step 4.7: calculating fitness and updating the sparrow position;
step 4.8: and judging the circulation condition, if the circulation condition is met, outputting the target parameter, otherwise, repeatedly executing the operations from the step 4.2 to the step 4.7.
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| CN115907366A (en) * | 2022-11-15 | 2023-04-04 | 淮阴工学院 | Agricultural product growth environment optimal regulation and control method and equipment based on flamingo algorithm |
| CN116890943A (en) * | 2023-09-11 | 2023-10-17 | 广州市捷丰自动化设备有限公司 | Railway cross rail AGV |
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| CN115907366A (en) * | 2022-11-15 | 2023-04-04 | 淮阴工学院 | Agricultural product growth environment optimal regulation and control method and equipment based on flamingo algorithm |
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