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基于GA-模糊PID的粉状有机肥电液控制系统设计与试验

Design and testing of an electro-hydraulic control system for powdered organic fertilizer based on GA-fuzzy PID

  • 摘要: 针对有机肥撒施作业中撒施精度低、不均匀的问题,该研究以液压驱动的宽幅可折叠撒肥机为对象,设计了一套同步控制输肥链排与撒肥绞龙转速的变量控制系统。首先,建立电液比例系统的传递函数模型并分析其稳定性,针对系统相位裕度不足的问题引入控制算法。同时利用遗传算法对模糊PID的模糊规则表进行仿真优化,依据优化后的模糊规则表设置模糊PID控制器。以输肥与撒肥装置的转速响应为评价指标,根据系统的工作原理,构建AMESim-Simulink联合仿真模型。仿真试验结果表明:经遗传算法优化的模糊PID控制器调节时间为0.19 s,相较于模糊PID调节缩短0.19 s,较经典PID控制缩短1.45 s,超调量较经典PID控制降低20.7%。室内台架试验结果表明,优化后系统可在2 s内完成转速调节,稳态误差小于2 %,抗干扰能力大幅提升。研究结果可为液压驱动式变量撒肥控制系统的设计提供参考。

     

    Abstract: Powdered organic fertilizers are characterized by excellent nutrient release, thereby enhancing soil fertility and structure for healthy plant growth in sustainable agriculture. However, material properties have posed serious challenges to the application in recent years, such as poor flowability, inconsistent particle characteristics, and sensitivity to mechanical vibrations. It is often required for the high spreading accuracy and sufficient uniformity during application. In this study, a dual-parameter electro-hydraulic proportional control system was developed for the large hydraulic-driven spreaders for powdered organic fertilizer. The control system synchronously adjusted the rotational speeds of the fertilizer delivery chain and spreading auger. Spreading precision and efficiency were also achieved for the stable and consistent fertilizer application rates under varying operations. An electro-hydraulic proportional control system with electromagnetic proportional valves was constructed to regulate the speed of hydraulic motors for fertilizer delivery and spreading. A transfer function model of the electro-hydraulic system was established to regulate the hydraulic motor speed. Frequency domain analysis revealed that insufficient phase margin under typical conditions resulted in slow response times and high sensitivity to external disturbances. A fuzzy control strategy was then introduced for high stability. The parameters were dynamically adjusted to enhance the system's adaptability under varying conditions, according to real-time error information and trends. Concurrently, a genetic algorithm (GA) was employed to optimize the fuzzy rule table. Parameters were globally optimized under different conditions. Manual tuning was reduced to improve the overall performance of the system. A numerical model was constructed using AMESim and Matlab/Simulink. A systematic evaluation was conducted on the performance under step input, time-varying tracking, and disturbance. Simulation results demonstrated that the optimal fuzzy PID controller significantly reduced settling time, overshoot, and steady-state error, compared with conventional proportional-integral-derivative (PID) control and fuzzy PID control. The system performed a settling time of 0.19 s higher than the fuzzy PID under step input conditions, with the overshoot of 0.3% (a 20.71% decrease, compared with classical PID) and steady-state error below 1%. The lags were markedly reduced for the high adaptability to sinusoidal tracking. A test bench was constructed to incorporate a hydraulic motor, proportional flow valve, and real-time feedback sensors. Experimental studies were conducted to validate the simulation reliability and engineering applicability under no-load and variable load. Test results showed that the high consistency was shared with the simulation. The optimal system achieved the target rotational speed within 1.2 s, indicating steady-state deviation within engineering tolerance limits. The superior robustness, repeatability, and disturbance rejection were observed under load fluctuations. Furthermore, fertilizer delivery and spreading were synchronically regulated to effectively reduce the speed mismatches among subsystems, providing for stable spreading. The precision and stability were significantly enhanced during variable-rate fertilizer application after optimization. A dual-parameter synchronous control strategy can provide a repeatable and adaptable engineering solution for the precise application of powdered organic fertilizers. Practical guidance and implications can also help optimize electro-hydraulic variable organic fertilizer application in medium-to-large agricultural machinery.

     

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