基于自适应耕深调节的后悬挂调平系统方法研究
收稿日期: 2025-03-21
修回日期: 2025-04-20
网络出版日期: 2025-07-21
基金资助
国家自然科学基金面上项目(52375251);江苏省现代农机装备与技术示范推广项目(NJ2023-02);江苏省大学生创新训练计划资助项目(202410307276Y)
Design and Testing of an Adaptive Rear-hitch Leveling Control System for Tillage Depth Using Fuzzy PID Algorithm
Received date: 2025-03-21
Revised date: 2025-04-20
Online published: 2025-07-21
【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。
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 . DOI: 10.16819/j.1001-7216.2025.250317
【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.
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