中国农机化学报2026，Vol.47Issue(3)：193-200,8.DOI:10.13733/j.jcam.issn.2095-5553.2026.03.026
核桃振动采摘机设计与电液控制系统优化
Design of a walnut vibrating harvester and optimization of its electro-hydraulic control system
摘要
Abstract
The aim of this study was to improve the automation level of walnut harvesting in Xinjiang region and address the inefficiency issues caused by manual beating and tractor shaking.A PLC-controlled hydraulic vibrating walnut harvester was designed,and a fuzzy PID control strategy optimized by an adaptive quantum genetic algorithm(MOP-AQGA)was proposed to ensure the stability of the hydraulic system and constant vibration frequency.Firstly,the structure and hydraulic system of the harvester were designed,and nonlinear rotation angle calculation and mutation rate adjustment were introduced into the control strategy.The quantization factors and proportional factors of the controller were optimized through multi-operator cooperative evolution.The control system performance was verified by using joint simulations in AMESim and Simulink,where the results showed that at a vibration frequency of 23 Hz,the maximum overshoot was 1.6％,the average error was 4.61 r/min,and the settling time was 1.32 s.The system demonstrated good response speed,speed regulation range tracking and stability.Finally,the walnut vibrating harvester and its control system were assembled for performance testing,to further validate that the control system exhibited strong anti-interference capability and robustness,meeting the control requirements for the vibrating walnut harvester.关键词
核桃振动采摘机/模糊PID控制/自适应机制/量子遗传算法Key words
walnut vibrating harvester/fuzzy PID control/adaptive mechanism/quantum genetic algorithm分类
农业科技引用本文复制引用
代桂鑫,许燕,周建平,张惠琪,叶琛琛..核桃振动采摘机设计与电液控制系统优化[J].中国农机化学报,2026,47(3):193-200,8.基金项目
新疆农机研发制造推广应用一体化项目(YTHSD2022-20) （YTHSD2022-20）
新疆维吾尔自治区重点研发项目(2024B02017-3) （2024B02017-3）
