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基于IGWO-LADRC的電動綠豆播種機控制系統(tǒng)研究
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黑龍江省“百千萬”工程科技重大專項(SC2020ZX17B0009)、黑龍江農墾總局重點計劃項目(HNK135-06-08)和大慶市指導性科技計劃項目(zd-2020-46)


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

    針對高密度種植作物綠豆精密播種時因理論株距小、合格范圍小及系統(tǒng)存在內外干擾導致漏播率高、播種不均勻等問題,研究一種基于IGWO-LADRC的電動綠豆精密播種機控制系統(tǒng)。對排種電機建模,同時提出一種改進灰狼算法(Improved grey wolf optimizer,IGWO)整定線性自抗擾控制器(Linearactive disturbance rejection control,LADRC)的參數(shù),通過與經驗法整定PID、經驗法整定LADRC、GWO-LADRC 3種排種電機控制方式進行對比,來檢驗所提出智能控制系統(tǒng)的優(yōu)勢。仿真實驗表明:基于IGWO-LADRC的電動綠豆精密播種機控制系統(tǒng),系統(tǒng)無超調,調節(jié)時間為0.57s,無靜差,受干擾恢復時間為0.35s,且再次達到穩(wěn)態(tài)后無振蕩現(xiàn)象且無靜差。臺架試驗表明:智能電驅動播種相較傳統(tǒng)鏈驅動播種合格指數(shù)提升2.75個百分點,重播指數(shù)降低0.46個百分點,漏播指數(shù)降低2.22個百分點,變異系數(shù)降低8.91個百分點,合格株距變異系數(shù)降低7.89個百分點;相較傳統(tǒng)PID電控播種在各項排種性能指標也更優(yōu);合格指數(shù)提升2.20個百分點,重播指數(shù)降低0.37個百分點,漏播指數(shù)降低1.30個百分點,變異系數(shù)降低7.28個百分點,合格株距變異系數(shù)降低4.47個百分點。均滿足國家標準要求。

    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,孫悅.基于IGWO-LADRC的電動綠豆播種機控制系統(tǒng)研究[J].農業(yè)機械學報,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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