基于自适应耕深调节的后悬挂调平系统方法研究

doi:10.16819/j.1001-7216.2025.250317

摘要/Abstract

摘要：

【目的】针对当前农业生产中传统耕作机具容易受到地形和工作负载变化的影响，适应性较差和调平控制精度不高等问题，【方法】提出了一种基于模糊PID算法的智能耕深自适应调平控制方法，设计了一种四杆式电控液压后悬挂调平装置，实现了耕深的自适应调控与均匀性保障。通过三维建模软件对四杆式液压后悬挂调平装置进行设计建模，并对该自适应耕深调节的电控液压后悬挂调平装置进行仿真分析，验证其能够安全稳定运行的载荷条件。【结果】实际田间作业试验验证，当拖拉机以低速、中速和高速三种不同行驶速度在田间作业时，采用模糊PID算法的液压后悬挂调平装置在10°和20°的坡上平均调平响应时间分别为2.2 s和5.3 s，调平误差均小于0.5°，且无超调现象。【结论】该系统能较好保证耕深的合格率和均匀度，实现了旋耕机在耕作过程中对耕深的实时自适应调控。

关键词: 耕深调节, 旋耕机, 调平装置, 模糊PID算法, 液压系统

Abstract:

【Objective】 In response to the current challenges in agricultural production, where traditional tillage implements are susceptible to variations in terrain and workload, leading to limited terrain adaptability and in accurate leveling control. 【Method】 This work proposes an intelligent adaptive leveling control method for tillage depth based on a fuzzy PID algorithm. A four-bar electronically controlled hydraulic rear-hitch leveling device is designed to achieve adaptive tillage depth regulation, and ensure depth uniformity during rotary tiller operations. The four-bar hydraulic rear-hitch leveling device is modeled using 3D modeling software, and simulation analysis is conducted to verify its safe and stable operation under apecified load conditions. Field operation tests are carried out to validate the system's performance. 【Result】 The results show that when the tractor operates at low, medium, and high speeds in the field, the hydraulic rear-hitch leveling device using the fuzzy PID algorithm achieves average leveling response times of 2.2 s and 5.3 s on slopes of 10° and 20°, respectively, with leveling errors less than 0.5° and no overshoot. 【Conclusion】 The system effectively ensures the qualified rate and uniformity of tillage depth, enabling real-time adaptive control of tillage depth during rotary tiller operations.

Key words: tillage depth adjustment, rotary tiller, leveling device, fuzzy PID algorithm, hydraulic system

李慧捷, 袁浩宇, 解臣硕, 肖茂华, 黄伟星, 曹瑜轩, 唐存干. 基于自适应耕深调节的后悬挂调平系统方法研究[J]. 中国水稻科学, 2025, 39(4): 440-450.

LI Huijie, YUAN Haoyu, XIE Chenshuo, XIAO Maohua, HUANG Weixing, CAO Yuxuan, TANG Cungan. Design and Testing of an Adaptive Rear-hitch Leveling Control System for Tillage Depth Using Fuzzy PID Algorithm[J]. Chinese Journal OF Rice Science, 2025, 39(4): 440-450.

图/表 17

参考文献 29

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部件名称 Component name	尺寸参数 Dimensional parameters	材质 Material
上支撑横梁 Upper support beam	长：1.5 m，宽：200 mm，厚：50 mm Length: 1.5 m, Width: 200 mm, Thickness: 50 mm	Q460D钢 Q460D Steel
左/右支撑杆 Left/Right support rod	长：1.2 m，直径：50 mm Length: 1.2 m, Diameter: 50 mm	Q345B钢 Q345B Steel
左下/右下支撑横梁 Lower support beam	长：1.2 m，宽：150 mm，厚：40 mm Length: 1.2 m, Width: 150 mm, Thickness: 40 mm	Q345B钢 Q345B Steel
左/右旋转臂 Left/Right rotation arm	长：0.8 m，直径：40 mm Length: 0.8 m, Diameter: 40 mm	40Cr合金钢 40Cr Alloy steel
左/右长液压杆 Left/Right hydraulic rod	行程：1.5 m，直径：60 mm Stroke: 1.5 m, Diameter: 60 mm	20CrMo合金钢 20CrMo Alloy steel
调平平台 Leveling platform	长：1.5 m，宽：0.8 m，厚：50 mm Length: 1.5 m, Width: 0.8 m, Thickness: 50 mm	Q345钢 Q345 Steel
万向节 Universal joint	外径：100 mm，高：150 mm Outer Diameter: 100 mm, Height: 150 mm	42CrMo合金钢 42CrMo Alloy steel
液压缸 Hydraulic cylinder	缸径：80 mm，杆径：40 mm，行程：500 mm Bore: 80 mm, Rod Diameter: 40 mm, Stroke: 500 mm	铸铁 Cast Iron
液压泵 Hydraulic pump	额定流量：20 L/min，输出压力：20 MPa Rated Flow: 20 L/min, Output Pressure: 20 MPa	铸铁 Cast Iron
比例阀 Proportional valve	响应时间：≤50 ms，控制精度：±0.1% Response Time: ≤50 ms, Control Accuracy: ±0.1%	铝合金 Aluminum alloy
连接件 Fasteners	M16，长度：100 mm，抗拉强度≥800 MPa M16, Length: 100 mm, Tensile Strength ≥800 MPa	10.9级高强度螺栓 Grade 10.9 High-strength bolt

部件名称 Component name	尺寸参数 Dimensional parameters	材质 Material
上支撑横梁 Upper support beam	长：1.5 m，宽：200 mm，厚：50 mm Length: 1.5 m, Width: 200 mm, Thickness: 50 mm	Q460D钢 Q460D Steel
左/右支撑杆 Left/Right support rod	长：1.2 m，直径：50 mm Length: 1.2 m, Diameter: 50 mm	Q345B钢 Q345B Steel
左下/右下支撑横梁 Lower support beam	长：1.2 m，宽：150 mm，厚：40 mm Length: 1.2 m, Width: 150 mm, Thickness: 40 mm	Q345B钢 Q345B Steel
左/右旋转臂 Left/Right rotation arm	长：0.8 m，直径：40 mm Length: 0.8 m, Diameter: 40 mm	40Cr合金钢 40Cr Alloy steel
左/右长液压杆 Left/Right hydraulic rod	行程：1.5 m，直径：60 mm Stroke: 1.5 m, Diameter: 60 mm	20CrMo合金钢 20CrMo Alloy steel
调平平台 Leveling platform	长：1.5 m，宽：0.8 m，厚：50 mm Length: 1.5 m, Width: 0.8 m, Thickness: 50 mm	Q345钢 Q345 Steel
万向节 Universal joint	外径：100 mm，高：150 mm Outer Diameter: 100 mm, Height: 150 mm	42CrMo合金钢 42CrMo Alloy steel
液压缸 Hydraulic cylinder	缸径：80 mm，杆径：40 mm，行程：500 mm Bore: 80 mm, Rod Diameter: 40 mm, Stroke: 500 mm	铸铁 Cast Iron
液压泵 Hydraulic pump	额定流量：20 L/min，输出压力：20 MPa Rated Flow: 20 L/min, Output Pressure: 20 MPa	铸铁 Cast Iron
比例阀 Proportional valve	响应时间：≤50 ms，控制精度：±0.1% Response Time: ≤50 ms, Control Accuracy: ±0.1%	铝合金 Aluminum alloy
连接件 Fasteners	M16，长度：100 mm，抗拉强度≥800 MPa M16, Length: 100 mm, Tensile Strength ≥800 MPa	10.9级高强度螺栓 Grade 10.9 High-strength bolt

变量	基本论域	量化论域	量化因子
r*	[-2.8, 2.8]	[-6, 6]	0.05
e(c)	[-0.02, 0.02]	[-6, 6]	0.12
∆k_p	[-0.9, 0.9]	[-3, 3]	0.30
∆k_i	[-0.05, 0.05]	[-3, 3]	0.02
∆k_d	[-1.6, 1.6]	[-3, 3]	0.50

变量	基本论域	量化论域	量化因子
r*	[-2.8, 2.8]	[-6, 6]	0.05
e(c)	[-0.02, 0.02]	[-6, 6]	0.12
∆k_p	[-0.9, 0.9]	[-3, 3]	0.30
∆k_i	[-0.05, 0.05]	[-3, 3]	0.02
∆k_d	[-1.6, 1.6]	[-3, 3]	0.50

实验指标 Experimental metric	作业速度Speed
实验指标 Experimental metric	低速(1.2 km/h) Low (1.2 km/h)	中速(3.6 km/h) Medium (3.6 km/h)	高速(5.2 km/h) High (5.2 km/h)
耕深平均值Mean depth (mm)	31.49	30.13	31.75
耕深合格率Qualification rate (%)	92	93	91
耕深标准差Depth standard deviation (mm)	0.26	0.18	0.21
耕深变异系数Coefficient of variation (%)	3.51	2.93	3.26