A Robust palstance control method of a combine cylinder

摘要

A robust controller is designed for combine threshing cylinder palstace control systems with nonlinear model, disturbances, time-delay and uncertainties. Regulate control cylinder palstance of combine harvester by adjusting the walking velocity and feeding quantity of closed-loop sysytems. Based on the derivative correct technology compensation stepless speed lag link; Establish augmented the SDC pseudo-linearization system equation is given with the theory SDRE, based on the stability of time-varying PI result, guarantee the setting of nonlinear asymptotic stability of the closed-loop system, and improve the robustness of the system. A nonolinear disturbance observers is proposed to enhance its distubance attenuationability and performance robusteness. Lastly, Simulation result demonstrates the effectiveness of proposed method.