摘要
农业机械深度控制技术主要包括深度测量、驱动执行机构与控制算法三个方面。基于接触式和非接触式深度测量技术在测量精度方面都达到mm级测量精度,但在测量装置集成化程度、响应速度方面,非接触式测量优势更大,是未来发展方向;鉴于农业机械作业装置在作业过程中作业速度低,但承载力大的特点,其驱动执行机构主要采用液压驱动方式,可改变的余地较小;PID控制算法在农业机械作业深度控制方面应用最多,其控制精度可达到cm级,小部分可达到mm级水平,但PID控制算法在克服外界强扰动、负载变化方面能力不足,需进一步展开先进控制算法的工程化应用研究。
The depth control system of the agricultural machinery includes three aspects,depth measurement,driving actuator and control algorithm.The measurement accuracy of contact and non-contact depth measurement technology can reach the mm-level,but the advantage of non-contact measurement technology is larger in the measurement device integration and the response speed,which is the future development direction.The working speed of agricultural machinery is not high,and the bearing capacity is large,so the depth control system is mainly driven by hydraulic actuator,which is little room for change.PID control algorithm is the most widely used in depth control of agricultural machinery,its control precision can reach cm-level,and a small part can reach mm-level.However,PID control algorithm has insufficient capability in overcoming external strong disturbance and load change,thus more advanced control algorithms will be applied in this field.
作者
廖洪波
胡昊
刘坤
张心怡
殷坤
LIAO Hongbo;HU Hao;LIU Kun;ZHANG Xinyi;YIN Kun(Northwest Institute of Nuclear Technology,Xi’an 710024,China)
出处
《拖拉机与农用运输车》
2023年第1期7-14,共8页
Tractor & Farm Transporter
关键词
深度控制
非接触深度测量
驱动执行机构
深度控制算法
Depth control
Non-contact depth measurement
Driving actuator
Depth control algorithm
