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联合收获机的轴流式脱粒滚筒转速系统具有强非线性、不确定、滞后、大干扰等特点,以收获机的行走速度和喂入量为控制量,滚筒转速为被控量,建立闭环控制系统,设计时变的鲁棒稳定控制器。在频域内基于比例微分校正技术补偿无级变速传动的滞后环节影响;基于近似模型预测的连续预测控制律保证了大范围工作的控制系统性能;同时,设计收敛的非线性干扰观测器,对复杂环境联合收获机的时变干扰进行在线估计,进行前馈补偿提高系统的鲁棒性。最后,通过仿真和试验验证了所提方法的有效性。
Combine harvester axial-flow barrel speed system with strong nonlinear, uncertain, lag, large interference and other characteristics of the harvester walking speed and feeding amount of control, the drum speed is charged, the establishment of closed-loop control System, Designing Time-Stable Robust Controller. In the frequency domain, the proportional and differential correction technology is used to compensate the hysteresis of continuously variable transmission. The continuous predictive control law based on approximate model prediction ensures the performance of the control system over a wide range of work. At the same time, the designed nonlinear disturbance observer, Environment, the time-varying interference of the harvester is estimated online, and the feedforward compensation is made to improve the system robustness. Finally, the effectiveness of the proposed method is verified through simulation and experiment.