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玉米收獲機低損脫粒智能控制系統(tǒng)半實物仿真平臺設計
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國家重點研發(fā)計劃項目(2016YFD0701901)和國家自然科學基金項目(52172396)


Design of Hardware in Loop Simulation Platform for Intelligent Control System of Corn Kernel Harvester
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    摘要:

    針對玉米籽粒收獲機低損脫粒智能控制系統(tǒng)開發(fā)受場地和季節(jié)影響較大的問題,設計了一套低損脫粒智能控制系統(tǒng)半實物仿真平臺。該仿真平臺由仿真平臺控制器、操作面板、演示面板、扶手箱、顯示器和上位機組成。分析了玉米籽粒收獲機低損脫粒智能控制系統(tǒng)的組成和收獲控制器的測試需求,建立了玉米籽粒收獲機關鍵作業(yè)參數(shù)調節(jié)過程的數(shù)學模型,基于STM32F407型單片機搭建了硬件在環(huán)仿真測試系統(tǒng),并完成了試驗臺設計。進行了仿真平臺和玉米籽粒收獲機在空載條件下的作業(yè)參數(shù)調節(jié)開環(huán)對照試驗,其中,滾筒轉速仿真誤差的數(shù)學期望為0.126r/min,標準差為0.776r/min;作業(yè)速度仿真誤差的數(shù)學期望為-0.022km/h,標準差為0.094km/h;凹板間隙仿真誤差的數(shù)學期望為0.041mm,標準差為0.147mm,驗證了仿真平臺對執(zhí)行機構調節(jié)過程模擬的有效性。進行了信號模擬測試和收獲控制器自動控制策略仿真測試,結果證明了仿真平臺可用于玉米籽粒收獲機智能控制系統(tǒng)的開發(fā)和控制策略的測試,提高了系統(tǒng)開發(fā)效率,縮短了開發(fā)周期。

    Abstract:

    Aiming at the problem that the development of a low loss threshing intelligent control system for corn kernel harvester is greatly affected by the experiment site and season, a set of hardware in loop simulation platform for low loss threshing intelligent control system was designed and developed. The simulation platform was composed of a simulation platform controller, operation panel, demonstration panel, armrest box, display, and upper computer. The composition of the intelligent control system for low loss threshing of the corn kernel harvester and the test requirements of the harvest controller was analyzed. The mathematical model of the adjustment process of the key operating parameters of the corn kernel harvester was established. The hardware in the loop simulation test system was built based on an STM32F407 single-chip microcomputer, and the testbed design was completed. The open-loop contrast test of operation parameter adjustment of the simulation platform and the corn grain harvester under no-load conditions was carried out. The mathematical expectation of the simulation error of the cylinder speed was 0.126r/min, and the standard deviation was 0.776r/min. The mathematical expectation of operating speed simulation error was -0.022km/h, and the standard deviation was 0.094km/h. The mathematical expectation of the concave clearance simulation error was 0.041mm, and the standard deviation was 0.147mm, which verified the effectiveness of the simulation platform for the adjustment process of the actuator of the corn harvester was verified. The signal simulation test and the automatic control strategy simulation test of the harvest controller were carried out. The results showed that the simulation platform can be used for the development of an intelligent control system for corn kernel harvester and the test of control strategy, which improved the system development efficiency and shortened the development cycle.

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朱曉龍,遲瑞娟,杜岳峰,班超,馬悅琦,黃修煉.玉米收獲機低損脫粒智能控制系統(tǒng)半實物仿真平臺設計[J].農業(yè)機械學報,2022,53(8):114-122. ZHU Xiaolong, CHI Ruijuan, DU Yuefeng, BAN Chao, MA Yueqi, HUANG Xiulian. Design of Hardware in Loop Simulation Platform for Intelligent Control System of Corn Kernel Harvester[J]. Transactions of the Chinese Society for Agricultural Machinery,2022,53(8):114-122.

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  • 收稿日期:2022-04-02
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  • 在線發(fā)布日期: 2022-05-31
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