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基于IGWO-LADRC的電動(dòng)綠豆播種機(jī)控制系統(tǒng)研究
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黑龍江省“百千萬(wàn)”工程科技重大專項(xiàng)(SC2020ZX17B0009)、黑龍江農(nóng)墾總局重點(diǎn)計(jì)劃項(xiàng)目(HNK135-06-08)和大慶市指導(dǎo)性科技計(jì)劃項(xiàng)目(zd-2020-46)


Electric-driven Mung Bean Precision Seeder Control System Based on IGWO-LADRC
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    摘要:

    針對(duì)高密度種植作物綠豆精密播種時(shí)因理論株距小,、合格范圍小及系統(tǒng)存在內(nèi)外干擾導(dǎo)致漏播率高,、播種不均勻等問(wèn)題,研究一種基于IGWO-LADRC的電動(dòng)綠豆精密播種機(jī)控制系統(tǒng),。對(duì)排種電機(jī)建模,,同時(shí)提出一種改進(jìn)灰狼算法(Improved grey wolf optimizer,IGWO)整定線性自抗擾控制器(Linearactive disturbance rejection control,LADRC)的參數(shù),,通過(guò)與經(jīng)驗(yàn)法整定PID,、經(jīng)驗(yàn)法整定LADRC、GWO-LADRC 3種排種電機(jī)控制方式進(jìn)行對(duì)比,,來(lái)檢驗(yàn)所提出智能控制系統(tǒng)的優(yōu)勢(shì),。仿真實(shí)驗(yàn)表明:基于IGWO-LADRC的電動(dòng)綠豆精密播種機(jī)控制系統(tǒng),系統(tǒng)無(wú)超調(diào),,調(diào)節(jié)時(shí)間為0.57s,,無(wú)靜差,受干擾恢復(fù)時(shí)間為0.35s,,且再次達(dá)到穩(wěn)態(tài)后無(wú)振蕩現(xiàn)象且無(wú)靜差,。臺(tái)架試驗(yàn)表明:智能電驅(qū)動(dòng)播種相較傳統(tǒng)鏈驅(qū)動(dòng)播種合格指數(shù)提升2.75個(gè)百分點(diǎn),重播指數(shù)降低0.46個(gè)百分點(diǎn),,漏播指數(shù)降低2.22個(gè)百分點(diǎn),,變異系數(shù)降低8.91個(gè)百分點(diǎn),合格株距變異系數(shù)降低7.89個(gè)百分點(diǎn),;相較傳統(tǒng)PID電控播種在各項(xiàng)排種性能指標(biāo)也更優(yōu),;合格指數(shù)提升2.20個(gè)百分點(diǎn),重播指數(shù)降低0.37個(gè)百分點(diǎn),,漏播指數(shù)降低1.30個(gè)百分點(diǎn),,變異系數(shù)降低7.28個(gè)百分點(diǎn),合格株距變異系數(shù)降低4.47個(gè)百分點(diǎn),。均滿足國(guó)家標(biāo)準(zhǔn)要求,。

    Abstract:

    Aiming at the problems of high missing index and non-precision seeding due to the small theoretical seeding spacing, small qualified range and internal and external interference of the system during precision seeding of mung bean, an electric-driven mung bean precision seeder control system based on IGWO-LADRC was studied. The modeling of the seeding motor was proposed, and an improved grey wolf optimizer (IGWO) was proposed to tune the parameters of the linear active disturbance rejection control (LADRC). The advantages of intelligent control system were tested by comparing the four seeding motor control strategies of empirical tuning PID, empirical tuning LADRC, GWO-LADRC and IGWO-LADRC. Simulation experiment showed that the electric-driven mung bean precision seeding control system based on IGWO-LADRC algorithm had a fitness of 1.5320, no overshoot, a settling time of 0.57s, almost no steady-state error, a disturbance recovery time of 0.35s, and no oscillation phenomenon and no steady-state error after reached the steady state again. The results of the seeding performance experiment showed that compared with the traditional chain-driven seeding,qualified index was increased by 2.75 percentage points, multiple index was decreased by 0.46 percentage points, missing index was decreased by 2.22 percentage points, precision index was decreased by 8.91 percentage points, and the precision index of qualified seeding spacing was decreased by 7.89 percentage points,compared with the traditional PID electric-driven seeding, qualified index was increased by 2.20 percentage points, multiple index was decreased by 0.37 percentage points, missing index was decreased by 1.30 percentage points, precision index was decreased by 7.28 percentage points, and the precision index of qualified seeding spacing was decreased by 4.47 percentage points, all of which met the national standards.

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王淞,趙斌,衣淑娟,趙雪,劉志強(qiáng),孫悅.基于IGWO-LADRC的電動(dòng)綠豆播種機(jī)控制系統(tǒng)研究[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2022,53(s1):87-98. WANG Song, ZHAO Bin, YI Shujuan, ZHAO Xue, LIU Zhiqiang, SUN Yue. Electric-driven Mung Bean Precision Seeder Control System Based on IGWO-LADRC[J]. Transactions of the Chinese Society for Agricultural Machinery,2022,53(s1):87-98.

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  • 收稿日期:2022-06-01
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  • 在線發(fā)布日期: 2022-11-10
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