基于神经网络PID的小麦收割机械式行走装置设计

摘要

In order to improve the accuracy of the combine harvester and the traveling speed control response, shorten the response time of the process control, improve the working efficiency of the harvester,it designed a kind of new wheat har-vesting machinery type walking device.The device used the novel hydro mechanical control scheme, combined with a neural network PID controller and improve the response speed and accuracy of the walking device, and solved the har-vester in situ steering and special plots by poor.The walking system adopt the double integrated variable piston pump and two quantitative cycloid motor independent leisure type hydraulic transmission system with the harvester walking stepless speed regulation system.For the validity and reliability of the testing device, the PID controller response accuracy and response time were tested and it was found that PID controller adjusting time only to 0.02s, quick response,with low o-vershoot and higher response accuracy, which provides a more valuable reference for the modernization of the wheat har-vester design.%为了提高联合收割机行进速度控制的响应精度、缩短控制过程的响应时间及提高收割机的作业效率,设计了一种新的小麦收割机械式行走装置. 该装置利用新型液压-机械控制方案,结合神经网络 PID控制器,提高了行走装置的响应速度和精度,并解决了收割机原地转向及特殊地块通过性较差的问题. 行走系统采用双联集成变量柱塞泵和2 个定量摆线马达的相互独立闲式液压传动系统,实现了收割机行走系统的无级调速. 为了测试装置的有效性和可靠性,对PID控制器的响应精度和响应时间等进行了测试. 通过测试发现:PID 控制器的调节时间仅为0.02s,响应迅速,超调量低,响应精度较高,为小麦收割机现代化设计提供了较有价值的参考.