Research On Accurate Feeding Synchronous Control System Of Sheep Electric Spreader

With the increasing scale of Xinjiang mutton sheep breeding,the quality of feeding meat sheep has been improved.The traditional mechanical feeding mode has gradually failed to meet the requirements.The feeding of mutton sheep also needs to develop towards high quality and high efficiency,so as to achieve accurate feeding.This paper takes the model dys-5 sheep electric distributor as the control object,designs a DC motor synchronous control system based on the master-slave fuzzy PID control strategy.Through the synchronous adjustment of the driving motor,scraper motor and feeding belt motor in real time,the precise control of the feeding quantity of the electric distributor is realized.The problems of uneven feeding,low feeding precision and high labor intensity in the process of traditional mechanical feeding were solved,which provided technical support for intelligent and accurate feeding of mutton sheep.(1)The establishment of mathematical model of the motor of the spreader.The structure principle of the model dys-5 sheep electric spreader is introduced.The control structure of the control system is designed with the driving motor,scraper motor and feeding belt motor as the research object.According to the working environment and control requirements of the distributor,the paper analyzes the speed regulation and starting mode of several common motors,and establishes the speed regulating mode and step-down starting mode of changing armature voltage.Combined with the speed,torque and mechanical characteristics of series excited DC motor,the mathematical model of the distributor motor is established,which provides the controlled motor model for the simulation of the control system.(2)Simulation of master-slave multi motor synchronous control system based on Fuzzy PID.Based on the principle of PID,PID controller is designed.The fuzzy set,domain and membership function are established by combining PID controller with fuzzy controller.The fuzzy PID controller is designed.Taking the mathematical model of motor as the controlled object,the main and subordinate multi motor synchronous control system based on PID algorithm and fuzzy PID algorithm are built respectively.The results of the two control systems are analyzed and compared.The main and subordinate multi motor synchronous control system based on Fuzzy PID algorithm has good dynamic response characteristics,faster response speed,smaller overshoot,faster convergence speed and stronger robustness,which can be applied to the precise feeding adjustment of sheep electric feeding vehicle.(3)The design of synchronous control system of motor.The hardware circuit of the control system is built based on the structure characteristics of the ys-5 sheep electric distributor,which is based on the structure characteristics of the DSC-5 sheep electric distributor,and the single chip module based on STC12C5A60S2,the LCD module of LCD1602,the hall sensor speed measuring module,the motor drive module and the battery module.Based on keil μ vision 4 as software platform,the main program,terminal service program,fuzzy PID subprogram and PWM timer output program are designed,and the total program of the whole control system is formed.The combination of hardware circuit and software program has been built into the whole control system.(4)The system parameter establishment and performance verification test.In order to explore the influence of three working parameters,i.e.speed of speed,scraper motor and motor speed of feeding belt on the feeding capacity of the electric feeding vehicle for sheep type dys-5,the paper makes an inquiry test,analyzes the data results,obtains the working parameters when the quantitative accurate feeding is 4kg,and the parameters are entered into the control system,and the feeding vehicle is taken as the object to verify the system performance Test.The test results show that the error rate of feeding quantity is within 3%,which shows that the system can adjust the speed of each motor stably and accurately.The efficiency and quality of the electric spreader are improved,the feeding process is more intelligent and the stability of the control system is verified.