CN-121993462-A - Control system and control method of hydraulic mechanical arm type Sha Liuping stubble machine

CN121993462ACN 121993462 ACN121993462 ACN 121993462ACN-121993462-A

Abstract

The invention discloses a control system and a control method of a hydraulic mechanical arm type Sha Liuping stubble cleaner, which are used for improving the height consistency and the control stability of stubble leveling operation. The control system comprises a main control computer, a vehicle-mounted end controller and a state sensor group, wherein the state sensor group is used for collecting the running state of the hydraulic system, and the vehicle-mounted end controller processes collected signals and uploads the collected signals to the main control computer. The main control computer calculates control errors according to the target state and the actual state, builds a sliding mode control model, introduces a variable-domain fuzzy rule to adjust sliding mode control parameters, introduces adaptive control to estimate system uncertain parameters, generates a proportional valve control signal and sends the proportional valve control signal to the vehicle-mounted end controller. The hydraulic executing element is driven by the multi-path proportional valve amplifier of the vehicle-mounted end controller, so that the closed-loop control of the mechanical arm stubble leveling process is realized. The invention has the advantages of strong disturbance rejection capability, high control precision and the like, and is suitable for Sha Liuping stubbles under complex working conditions.

Inventors

KAN JIANGMING
Li Zhanshuo
DONG RUIFANG
ZHAO XIXUAN
YAO SHUN

Assignees

北京林业大学

Dates

Publication Date: 20260508
Application Date: 20260205

Claims (6)

1. The control system of the hydraulic mechanical arm type Sha Liuping stubble machine is characterized by comprising a main control computer, a vehicle-mounted end controller and a state sensor group, wherein: The main control computer is used for inputting the target state quantity of the executing mechanism, calculating an error with the state quantity of the actual executing mechanism, and generating the control quantity of the multi-path proportional valve by adopting a self-adaptive sliding mode control algorithm based on a variable-domain fuzzy rule; The vehicle-mounted end controller is used for receiving the control quantity of the multi-path proportional valve generated by the main control computer, sending the control quantity to the multi-path proportional valve amplifier, converting the control quantity of the proportional valve into a proportional valve driving signal and outputting the proportional valve driving signal to the multi-path proportional valve so as to adjust the action of the hydraulic mechanism, receiving the actual executing mechanism state acquired by the state sensor group and sending the actual executing mechanism state to the main control computer; the state sensor group is used for acquiring the real-time state of each hydraulic actuating mechanism by adopting a plurality of types of sensors.
2. The control system of the hydraulic mechanical arm type Sha Liuping stubble machine as described in claim 1, wherein the vehicle-mounted end controller comprises an MCU, a communication module, a signal acquisition module and a multi-path proportional valve amplifier; the communication module is connected with the MCU, so that the vehicle-mounted end controller performs information interaction with the main control computer and the multi-path proportional valve amplifier through the communication module; The information acquisition module acquires the real-time state of each hydraulic actuating mechanism from an external state sensor group, generates a voltage signal and transmits the voltage signal to the MCU; The proportional valve amplifier is used for converting the proportional valve control quantity into a proportional valve driving signal and outputting the proportional valve driving signal to the multi-path proportional valve so as to adjust the action of the hydraulic mechanism.
3. The control system of the hydraulic mechanical arm type Sha Liuping stubble machine, which is described in claim 2, is characterized in that the multi-way proportional valve amplifier is connected with the multi-way proportional valve, and receives the control quantity of the multi-way proportional valve sent by the vehicle-mounted end controller MCU to generate a PWM control signal to drive the multi-way proportional valve, so as to realize the control of the action of the hydraulic actuating mechanism.
4. The control system of the hydraulic mechanical arm type Sha Liuping stubble machine according to claim 1 is characterized in that the state sensor group comprises a displacement sensor and a rotary encoder, wherein the displacement sensor is used for acquiring the displacement of a hydraulic cylinder, and the rotary encoder is used for acquiring the angle of a hydraulic rotary motor.
5. The control method of the hydraulic mechanical arm type Sha Liuping stubble machine is characterized by comprising the following steps of: s1, inputting a target state quantity of an executing mechanism by a main control computer; s2, the MCU of the vehicle-mounted end acquires actual state quantity through a state sensor group and sends the actual state quantity to the main control computer; S3, the main control computer calculates the current error through the target state quantity and the actual state quantity; s4, calculating control quantity by using a main control computer based on adaptive sliding mode control of variable domain fuzzy rule And sends the data to the MCU of the vehicle-mounted terminal; S5, the vehicle-mounted end controller MCU sends control quantity to the multi-path proportional valve amplifier The multi-path proportional valve amplifier generates a PWM control signal to drive the proportional valve; S6, judging whether the executing mechanism executes in place.
6. The method for controlling a hydraulic mechanical arm type Sha Liuping stubble cleaner as claimed in claim 5, wherein the main control computer in step S4 calculates the control amount based on the adaptive sliding mode control of the variable domain fuzzy rule The method specifically comprises the following steps: 1) The construction of a mathematical model of a control system of the hydraulic mechanical arm type Sha Liuping stubble machine is mainly divided into four links of a three-way valve control asymmetric cylinder, a displacement sensor, a multi-way proportional valve amplifier and a proportional valve; in a three-way valve controlled hydraulic cylinder system, the input is spool displacement and the output is cylinder displacement, and in order to build a mathematical model modeling formula from spool of the spool valve to cylinder displacement is as follows: in the formula, For the displacement of the moving member, For the displacement of the valve core of the proportional valve, In order to gain the flow rate, As a function of the total pressure flow coefficient, In order to control the area of the cavity piston, For the equivalent modulus of elasticity, the elastic modulus, For other load forces to act on the piston, In order to control the initial volume of the chamber, For the piston and the total mass transferred from the load to the piston, Is the viscous friction coefficient of a moving part such as a piston, a load and the like, Load stiffness, which is the modulus of elasticity during load movement; The displacement sensor, the multichannel proportional valve amplifier and the proportional valve link are equivalent to the proportional link, and the expression is as follows: , , in the formula, In order to provide a sensor voltage signal, Is used for inputting signals to the amplifier of the multi-path proportional valve, Is a control signal of the multi-path proportional valve; 2) Error-based dynamic equation creation The target quantity is r, the actual state quantity is y, and the error between the target control quantity and the state data is Definition of , The error-based dynamic equation can be written as: in the formula, 3) Construction of the slip-form surface Defining the sliding surface as In the following , ; The sliding mode surface is derived and obtained, According to the sliding mode control principle, the control rate comprises two items , For equivalent control, for maintaining the system state on the slip-form surface. For switching control, the method is used for overcoming the influence of uncertainty and meeting the reachable condition of the sliding mode; 4) Adaptive slip-form controller design Disassembling the sliding mode equivalent control law into a linear combination form containing unknown parameters, and defining For unknown parameters of the system, by constructing parameter estimation values The original control law is converted into a self-adaptive sliding mode control form, and a Lyapunov function containing an estimation error term is constructed for ensuring the stability of the system: Deriving an adaptive law ; 3) Establishing variable domain fuzzy rules: Error is to be corrected And its derivative As input variable, switch control item Coefficient of (2) As output variable, design 、 And Is a domain of discussion and membership function; introduction of domain expansion factors to 、 And According to the error of the domain of theory Is stretched out and stretched back; establishing fuzzy rule base and inputting variable 、 Calculating output variables using Mamdani inference method Defuzzifying the fuzzy set by using gravity center method to obtain output variable Is a precise value of (a).

Description

Control system and control method of hydraulic mechanical arm type Sha Liuping stubble machine Technical Field The invention relates to hydraulic control and a method, in particular to a control system and a control method of a hydraulic mechanical arm type Sha Liuping stubble machine. Background The salix psammophila plays a vital role in wind prevention and sand control in China, is used as an initial object for sand control and sand control in many places, needs stubble leveling and rejuvenation every 3-5 years, and has the problems of low efficiency, high labor intensity, low automation degree and poor profiling capability of the conventional Sha Liuping stubble cutting machine, and the hydraulic mechanical arm type Sha Liuping stubble cutting machine can keep a cutting device stable and obtain consistent stubble leveling height under the environment with rough terrain, uneven sand piles and large plant height difference. Meanwhile, parameters such as flow gain, leakage coefficient and the like can change along with load change, oil temperature fluctuation and working condition, and external disturbance such as cutting resistance and the like also have time variability, so that high-precision and anti-interference control is realized under a complex working condition and higher requirements are met. Therefore, research on a control system and a control method of the hydraulic mechanical arm type Sha Liuping stubble machine has important significance for achieving the aim of intelligent operation. Disclosure of Invention The invention aims to provide a control system and a control method of a hydraulic mechanical arm type Sha Liuping stubble machine, which are used for solving the problems in the background art. In order to solve the technical problems, the invention provides a control system of a hydraulic mechanical arm type Sha Liuping stubble machine, which comprises a main control computer, a vehicle-mounted end controller and a state sensor group; The main control computer is used for inputting the target state quantity of the executing mechanism, calculating an error with the state quantity of the actual executing mechanism, and generating the control quantity of the multi-path proportional valve by adopting a self-adaptive sliding mode control algorithm based on a variable-domain fuzzy rule; The vehicle-mounted end controller is used for receiving the control quantity of the multi-path proportional valve generated by the main control computer, sending the control quantity to the multi-path proportional valve amplifier, converting the control quantity of the proportional valve into a proportional valve driving signal and outputting the proportional valve driving signal to the multi-path proportional valve so as to adjust the action of the hydraulic mechanism, receiving the actual executing mechanism state acquired by the state sensor group and sending the actual executing mechanism state to the main control computer; the state sensor group is used for acquiring the real-time state of each hydraulic actuating mechanism by adopting a plurality of types of sensors; the vehicle-mounted end controller comprises an MCU, a communication module, a signal acquisition module and a multi-path proportional valve amplifier; the communication module is connected with the MCU, so that the vehicle-mounted end controller performs information interaction with the main control computer and the multi-path proportional valve amplifier through the communication module; The information acquisition module acquires the real-time state of each hydraulic actuating mechanism from an external state sensor group, generates a voltage signal and transmits the voltage signal to the MCU; The multi-path proportional valve amplifier is connected with the multi-path proportional valve, receives the control quantity of the multi-path proportional valve sent by the vehicle-mounted end controller, generates a PWM control signal, drives the multi-path proportional valve, and controls the action of the hydraulic actuating mechanism; the state sensor group comprises a displacement sensor and a rotary encoder; The displacement sensor is used for acquiring the displacement of the hydraulic cylinder, and the rotary encoder is used for acquiring the angle of the hydraulic rotary motor; a control method of a hydraulic mechanical arm type Sha Liuping stubble machine comprises the following steps: s1, inputting a target state quantity of an executing mechanism by a main control computer; s2, the MCU of the vehicle-mounted end acquires actual state quantity through a state sensor group and sends the actual state quantity to the main control computer; S3, the main control computer calculates the current error through the target state quantity and the actual state quantity; s4, calculating control quantity by using a main control computer based on adaptive sliding mode control of variable domain fuzzy rule And sends the data to the MCU of the vehicl