电子测量与仪器学报

刘青山,李川,魏新华,卢泽民,王爱臣.基于 LQR 的联合收割机割台高度控制研究[J].电子测量与仪器学报,2022,36(4):65-72

基于 LQR 的联合收割机割台高度控制研究

Research on the header height control strategy ofcombine harvester based on LQR

DOI：

英文关键词:combine harvester header height optimal control linear quadratic

基金项目:“十三五”国家重点研发计划（2019YFB131230201）、镇江市重点研发计划（NY2020006）、江苏省现代农机装备与技术示范推广项目（NJ2021 64，NJ2020 59）、江苏高校优势学科建设工程项目资助

作者	单位
刘青山	1.江苏大学现代农业装备与技术教育部重点实验室
李川	1.江苏大学现代农业装备与技术教育部重点实验室
魏新华	1.江苏大学现代农业装备与技术教育部重点实验室
卢泽民	1.江苏大学现代农业装备与技术教育部重点实验室
王爱臣	1.江苏大学现代农业装备与技术教育部重点实验室

Author	Institution
Liu Qingshan	1.Key Laboratory of Ministry of Education of Modern Agricultural Equipment and Technology, Jiangsu University
Li Chuan	1.Key Laboratory of Ministry of Education of Modern Agricultural Equipment and Technology, Jiangsu University
Wei Xinhua	1.Key Laboratory of Ministry of Education of Modern Agricultural Equipment and Technology, Jiangsu University
Lu Zemin	1.Key Laboratory of Ministry of Education of Modern Agricultural Equipment and Technology, Jiangsu University
Wang Aichen	1.Key Laboratory of Ministry of Education of Modern Agricultural Equipment and Technology, Jiangsu University

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中文摘要:

针对联合收割机作业过程中田间路面起伏影响割台高度进而导致割台高度测量难和喂入量波动等问题,提出基于双惯性传感器的联合收割机割台高度实时获取方法和基于线性二次调节器( linear quadratic regulator, LQR)的割台高度控制方法。通过两个惯性传感器分别测量联合收割机车身和倾斜输送器倾角实时求得割台高度,基于运动学和割台结构分析建立割台系统数学模型,通过选择性能函数求解线性二次型最优控制问题,得到割台高度控制的最优解,并根据最优解控制液压缸调节割台高度,使割台高度稳定在预设范围内。仿真结果表明,传统 PID 控制器跟踪含有随机噪声的阶跃信号时误差均方根为 0. 226°,而 LQR 控制器跟踪含有随机噪声的阶跃信号时误差均方根为 0. 133°,因此 LQR 控制器的动态性能优于传统 PID,可以提高割台高度的调控质量。

英文摘要:

Aiming at the problems that the fluctuation of field road affects header height of a combine harvester, it further results in the difficulty of measuring the header height and the fluctuation of feed quantity during the operation of a combine harvester, a real-time method for measuring the header height based on double inertial sensors and a method for controlling the header’s height based on linear quadratic regulator (LQR) were proposed. The header height was obtained in real time by measuring the inclination angles of the combine body and the inclined conveyor with two inertial sensors. Mathematical model of the header system was established based on the kinematics and the structural analysis of the header. The optimal solution of the header height control was obtained by selecting the performance function to solve the linear quadratic optimal control problem. According to the obtained optimal solution, the hydraulic cylinder was controlled to adjust the header height, so that the header height was stable in the preset range. The simulation results showed that the root mean square error of traditional PID controller was 0. 226° when tracking the step signal with random noise, while the root mean square error of the LQR controller was 0. 133° when tracking the step signal with random noise. Therefore, the dynamic performance of the LQR controller is better than that of the traditional PID, confirming that the proposed method can improve the control quality of header height of a combine harvester.

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