Study On Terrain Adaptive Cutting Table Control Technology For Caragana Korshinskii Harvesting

Caragana shrub has the function of windbreak and sand fixing and improving barren soil,seeds can be used as medicine,stalks can be used as paper and fuel,bees can be raised during flowering,branches can be used as animal feed,and both ecological and economic benefits.Caragana korshinskii should be harvested every 3-5 years,which can not only ensure the normal growth of caragana korshinskii,improve the ecological environment,but also provide raw materials for economic production.However,at present,the stubble harvesting of caragana korshinskii shrub mainly depends on manual operation,with high labor intensity and low efficiency.Most of the existing harvesting equipment of caragana korshinskii shrub has poor shape copying ability,which is difficult to adapt to the complex growth environment of caragana korshinskii shrub.In this paper,the control system and control strategy are designed and studied based on the terrain adaptive cutting platform for caragana korshinskii harvesting.Firstly,the research situation of caragana korshinskii harvesting equipment at home and abroad and the research status of hydraulic control system at home and abroad were described and summarized.Through the functional demand analysis of terrain adaptive cutting table used for caragana korshinskii harvesting,the mechanical structure scheme was determined,and the driving mode was selected,and the hydraulic system was designed.Based on the cutting table structure,the overall control scheme and synchronous control scheme of hydraulic cylinder are given,and the hardware scheme design and software function division of the control system are completed.Secondly,the kinematics of the cutting table was analyzed.The forward kinematics matrix was obtained by D-H parameter method and the inverse kinematics was obtained by geometric method.Then the kinematics simulation was carried out by using simulation software to verify the correctness of the forward and inverse kinematics and the cutter working space was obtained.Then,the dynamic analysis of the cutter table is carried out in ADAMS,which provides a foundation for the realization of the terrain adaptive control function of the cutter table.Thirdly,the working principle of the platform position control system and the cutter position control system is determined,the mathematical modeling of proportional amplifier,sensor,proportional directional valve and actuator is carried out,and the total transfer function model of the platform position control system and the cutter position control system is established respectively.Then,multi-layer pseudo random sequence(PMRS)signals were used to identify the control system,the least square method was used to calculate the system transfer function,and different signals were used to verify the identified system.Finally,a fuzzy setting PID parameter controller was designed based on the identified system model,and the effects of fuzzy PID control and conventional PID control were compared through simulation.The position and pose control of the cutting table end was experimentally studied based on inverse motion solution and hydraulic position control method.For korshinskii collecting topography adaptive cutting machine and its control system as the experiment platform,set cutter expectations pose trajectory,through the corresponding movement of each joint,realized to control the end of the cutter location,and the movement of each joint and tracks with a given at the end of the cutter errors are within the 5 mm,to achieve the control precision of caragana korshinskii recovery equipment cutting machine.