本文關(guān)鍵詞：拖拉機電液懸掛控制系統(tǒng)研究　出處：《湖北工業(yè)大學》2017年碩士論文　論文類型：學位論文

  更多相關(guān)文章： 電液懸掛 耕深控制 模糊控制

【摘要】：隨著現(xiàn)代科學技術(shù)的發(fā)展,農(nóng)業(yè)生產(chǎn)正由機械化向智能化轉(zhuǎn)型。目前,傳統(tǒng)的拖拉機液壓懸掛系統(tǒng)正逐漸被電液懸掛系統(tǒng)所取代,而智能控制技術(shù)、計算機技術(shù)的日益發(fā)展,使得機電液一體化技術(shù)越來越成熟,拖拉機電液懸掛系統(tǒng)的控制技術(shù)取得飛速進步。本文著眼于拖拉機電液懸掛控制系統(tǒng)的研究,將嵌入式分布式控制技術(shù)、智能控制技術(shù)、CAN總線技術(shù)等應用于拖拉機電液懸掛控制系統(tǒng),對相關(guān)的控制技術(shù)進行了深入地分析研究。以拖拉機電液懸掛控制系統(tǒng)為研究對象,設計了一套電液懸掛系統(tǒng)的實驗平臺,首先對液壓、懸掛、電控這三個主要模塊的組成、工作原理以及相互關(guān)系進行了闡述;重點對液壓模塊進行了建模仿真分析,驗證了系統(tǒng)的穩(wěn)定性與可靠性,為進行電液懸掛控制技術(shù)的研究奠定了基礎。根據(jù)設計的電液懸掛系統(tǒng),對不同控制方法進行了對比分析,提出了基于加權(quán)系數(shù)的力位綜合控制法。針對不同的工作環(huán)境,設計了電液懸掛系統(tǒng)的控制方案,對加權(quán)系數(shù)的調(diào)整方案進行分析,提出了基于BP神經(jīng)網(wǎng)絡的自動調(diào)整方式,并進行了仿真驗證。結(jié)合電液懸掛系統(tǒng)的作業(yè)特點,加入了模糊控制算法,設計了耕深模糊控制器,并對控制系統(tǒng)進行仿真分析,結(jié)果表明力位綜合控制技術(shù)以及模糊控制算法對耕深的自適應調(diào)節(jié)具有良好的控制效果。在此基礎上,搭建了嵌入式分布式控制原型系統(tǒng),開發(fā)了基于UCGUI圖形人機交互系統(tǒng)的監(jiān)控終端,用于輸入控制命令以及監(jiān)控系統(tǒng)參數(shù);設計實現(xiàn)了由硬件電路模塊和包含加權(quán)系數(shù)自動調(diào)整子程序、模糊控制子程序、AD采集子程序等在內(nèi)的各程序模塊組成的液壓控制節(jié)點,用于對液壓油缸的控制以及系統(tǒng)工作參數(shù)的檢測;制定了CAN總線通信協(xié)議,實現(xiàn)了基于CAN總線的監(jiān)控終端和液壓控制節(jié)點之間系統(tǒng)通訊;采用模塊機構(gòu)思想設計了電源系統(tǒng),提高了系統(tǒng)的穩(wěn)定性和可靠性。最后,在實驗平臺上進行了控制系統(tǒng)的實驗驗證,包括比例閥驅(qū)動實驗、犁具提升和下降實驗、耕深響應實驗、模擬阻力加載實驗以及力位綜合控制實驗。通過實驗數(shù)據(jù)分析,證明了控制系統(tǒng)的硬件和軟件框架是穩(wěn)定可靠的,控制系統(tǒng)的控制方案能夠?qū)崿F(xiàn)對耕深的自適應調(diào)節(jié)和穩(wěn)定性調(diào)節(jié)。
[Abstract]:With the development of modern science and technology, agricultural production is changing from mechanization to intellectualization. At present, the traditional tractor hydraulic suspension system is gradually replaced by electro-hydraulic suspension system, and intelligent control technology. With the development of computer technology, the electrohydraulic integration technology is more and more mature, and the control technology of tractor electro-hydraulic suspension system has made rapid progress. This paper focuses on the research of tractor electro-hydraulic suspension control system. The embedded distributed control technology, intelligent control technology and can bus technology are applied to the tractor electro-hydraulic suspension control system. Taking the tractor electro-hydraulic suspension control system as the research object, a set of experimental platform of electro-hydraulic suspension system is designed. The composition, working principle and relationship of the three main modules of electronic control are expounded. The modeling and simulation analysis of the hydraulic module is carried out, which verifies the stability and reliability of the system, and lays a foundation for the research of the electro-hydraulic suspension control technology, according to the design of the electro-hydraulic suspension system. Through the comparison and analysis of different control methods, a force position integrated control method based on weighting coefficient is put forward, and the control scheme of electro-hydraulic suspension system is designed for different working environment. Based on the analysis of the adjustment scheme of the weighting coefficient, the automatic adjustment method based on BP neural network is put forward, and the simulation is carried out. According to the characteristics of the electro-hydraulic suspension system, a fuzzy control algorithm is added. The fuzzy controller of tillage depth is designed and the simulation analysis of the control system is carried out. The results show that the integrated control technology and fuzzy control algorithm have good control effect on the adaptive regulation of tillage depth. An embedded distributed control prototype system is built, and a monitoring terminal based on UCGUI graphics human-computer interaction system is developed, which is used to input control commands and monitor system parameters. The hydraulic control node is designed and implemented by hardware circuit module, each program module including automatic adjustment of weighting coefficient, fuzzy control subroutine AD acquisition subroutine and so on. It is used to control the hydraulic cylinder and detect the working parameters of the system. The communication protocol of CAN bus is established, and the communication between monitoring terminal and hydraulic control node based on CAN bus is realized. The power supply system is designed with the thought of modular mechanism, which improves the stability and reliability of the system. Finally, the experimental verification of the control system is carried out on the experimental platform, including the proportional valve drive experiment. The experiment of plow lifting and falling, the experiment of depth response, the experiment of simulated resistance loading and the experiment of integrated control of force and position are carried out. The analysis of experimental data shows that the hardware and software framework of the control system is stable and reliable. The control scheme of the control system can realize adaptive regulation and stability regulation of tillage depth.
【學位授予單位】：湖北工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：S219.02

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本文編號：1425949