农业机械学报2024，Vol.55Issue(4)：82-90,135,10.DOI:10.6041/j.issn.1000-1298.2024.04.008
基于GPC-ILC的秸秆捡拾致密成型机主轴转速控制方法研究
Spindle Speed Control Method of Straw Picking Compactor
摘要
Abstract
In order to solve the problem of automatic control of spindle rotation speed of straw picking compactor and facilitate the full mechanization of the compactor,the mathematical model and rotation speed prediction model of the electro-hydraulic control system were designed.The spindle rotation speed control method based on GPC-ILC for straw compactor was proposed.By collecting input and output data during the previous operation of the straw compactor,using the least square method with forgetting factors to identify the parameter model of generalized predictive control and calculate the predictive output value.By correcting the predictive output value based on historical model errors,and deriving an iterative learning control law,new control quantities were calculated online and real-time to achieve spindle speed control.Under the proposed algorithm,a field harvest experiment was conducted.When increasing the load,the maximum dynamic deviation of the rotational speed was 3.21 r/min,the deviation from the target value was 2.6％,and the maximum margin was 1.23 r/min.During load shedding,the maximum dynamic deviation was 2.23 r/min,the deviation from the target value was 2.47％,and the maximum margin was 0.89 r/min.The time for increasing or decreasing the load speed to reach stability was less than 5s,and the overshoot was less than 3％.Field experiments showed that the maximum dynamic deviation was 3.75 r/min,the deviation from the target value was 3.47％,and the maximum margin was 1.79 r/min,which met the needs of field operation of the molding machine.GPC-ILC algorithm can timely correct the uncertainty of rotational speed control caused by model mismatch and interference.关键词
秸秆捡拾致密成型机/预测控制/迭代控制/控制系统Key words
straw picking compactor/predictive control/iterative control/control system分类
农业科技引用本文复制引用
王伟,计东,宫元娟,白雪卫,李宁,李洪宇..基于GPC-ILC的秸秆捡拾致密成型机主轴转速控制方法研究[J].农业机械学报,2024,55(4):82-90,135,10.基金项目
国家自然科学基金项目(51405311)、国家重点研发计划项目(2017YFD0300701-A02B)、辽宁省重点研发计划项目(2019JH8/10200019)、辽宁省教育厅重点项目(LSNZD201707)和辽宁省教育厅项目(LSNQN201904) （51405311）
