Design And Research Of Soil Depth Control System Of Sugarcane Harvester Based On Improved Fuzzy PID

Sugarcane is the fifth major crop.80% of the world’s sugar and 40% of the raw material for fuel ethanol come from sugarcane,among which sucrose accounts for about90% of China’s total sugar production.At present,sugarcane harvester has not been widely popularized in our country.The reason is that sugarcane planting area is mainly concentrated in hilly areas,and the effect of harvesting machinery is relatively poor,which is difficult to popularize.In this study,a set of automatic control system for soil depth of sugarcane harvester was designed to solve the problems that 4GQ-1 segment sugarcane harvester could not keep the best depth of harvest in the process of operation,which resulted in higher stalk stubble cutting,higher harvest loss rate and higher head breaking rate.The main research contents are as follows:(1)The influence of in-soil cutting on the quality of sugarcane harvest was analyzed theoretically and verified by experiments,and the working principle and operating environment of 4GQ-1 segment sugarcane harvester was studied.According to the design requirements,the overall scheme is designed,including the soil depth detection device,hydraulic system,control algorithm and upper computer software.(2)Design of ground height detection device and hydraulic system.A copying mechanism is designed,and the detection principle of the copying mechanism and the depth detection method of the cutter are introduced.In view of the problems that the copying mechanism can’t walk on the ground and fall when it is working,the torsion spring of the copying mechanism is simulated and analyzed by using simulation software,and the parameters of torsion spring suitable for the copying mechanism are obtained to reduce the error of the copying detection.The hydraulic cylinder and hydraulic valve of the hydraulic system are designed and selected,and the mathematical model of the control system is established.Finally,the stability of the model is analyzed by drawing the Bode diagram of the control system.(3)Design of fuzzy PID control algorithm optimized by genetic algorithm.By using the improved genetic algorithm to optimize the quantization factor and scale factor of the fuzzy PID algorithm,the response time and overshoot of the fuzzy PID control algorithm optimized by the genetic algorithm are analyzed by Simulink simulation.The simulation results show that the improved fuzzy PID algorithm has a great improvement compared with PID and fuzzy PID control algorithm.Finally,the feasibility of the control system is verified by Simulink and ADAMS co-simulation.(4)Software and hardware design of the control system.Mainly for the main control chip,sensor design and selection,on this basis to complete the control system hardware circuit design and PCB board design.The software part mainly completes the design of data acquisition and filtering module,data storage and call module,control algorithm module and implementation module of actuator in the control system.The upper computer software is developed and its specific functions are explained.(5)Laboratory test,field test and field test.In the laboratory test,the laboratory test bench and a set of simulated ground mechanism are designed,and the step response and sine response tests are carried out to check the control effect of the control system.The results show that the error of the improved fuzzy PID control algorithm is 0.5cm,less than the error of PID and fuzzy PID control algorithm.The control system was mounted on the sugarcane harvester for field test and field test.The field test was carried out in the sugarcane free field,and the field test was carried out in the sugarcane field.Both the field test and the field test take the actual depth of soil as the index to test the actual control effect of the control system.The test results show that the error of the control system’s depth of soil is less than 1cm,which meets the design requirements.