基于IGWO-LADRC的电动绿豆播种机控制系统研究
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黑龙江省“百千万”工程科技重大专项(SC2020ZX17B0009)、黑龙江农垦总局重点计划项目(HNK135-06-08)和大庆市指导性科技计划项目(zd-2020-46)


Electric-driven Mung Bean Precision Seeder Control System Based on IGWO-LADRC
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    摘要:

    针对高密度种植作物绿豆精密播种时因理论株距小、合格范围小及系统存在内外干扰导致漏播率高、播种不均匀等问题,研究一种基于IGWO-LADRC的电动绿豆精密播种机控制系统。对排种电机建模,同时提出一种改进灰狼算法(Improved grey wolf optimizer,IGWO)整定线性自抗扰控制器(Linearactive disturbance rejection control,LADRC)的参数,通过与经验法整定PID、经验法整定LADRC、GWO-LADRC 3种排种电机控制方式进行对比,来检验所提出智能控制系统的优势。仿真实验表明:基于IGWO-LADRC的电动绿豆精密播种机控制系统,系统无超调,调节时间为0.57s,无静差,受干扰恢复时间为0.35s,且再次达到稳态后无振荡现象且无静差。台架试验表明:智能电驱动播种相较传统链驱动播种合格指数提升2.75个百分点,重播指数降低0.46个百分点,漏播指数降低2.22个百分点,变异系数降低8.91个百分点,合格株距变异系数降低7.89个百分点;相较传统PID电控播种在各项排种性能指标也更优;合格指数提升2.20个百分点,重播指数降低0.37个百分点,漏播指数降低1.30个百分点,变异系数降低7.28个百分点,合格株距变异系数降低4.47个百分点。均满足国家标准要求。

    Abstract:

    Aiming at the problems of high missing index and non-precision seeding due to the small theoretical seeding spacing, small qualified range and internal and external interference of the system during precision seeding of mung bean, an electric-driven mung bean precision seeder control system based on IGWO-LADRC was studied. The modeling of the seeding motor was proposed, and an improved grey wolf optimizer (IGWO) was proposed to tune the parameters of the linear active disturbance rejection control (LADRC). The advantages of intelligent control system were tested by comparing the four seeding motor control strategies of empirical tuning PID, empirical tuning LADRC, GWO-LADRC and IGWO-LADRC. Simulation experiment showed that the electric-driven mung bean precision seeding control system based on IGWO-LADRC algorithm had a fitness of 1.5320, no overshoot, a settling time of 0.57s, almost no steady-state error, a disturbance recovery time of 0.35s, and no oscillation phenomenon and no steady-state error after reached the steady state again. The results of the seeding performance experiment showed that compared with the traditional chain-driven seeding,qualified index was increased by 2.75 percentage points, multiple index was decreased by 0.46 percentage points, missing index was decreased by 2.22 percentage points, precision index was decreased by 8.91 percentage points, and the precision index of qualified seeding spacing was decreased by 7.89 percentage points,compared with the traditional PID electric-driven seeding, qualified index was increased by 2.20 percentage points, multiple index was decreased by 0.37 percentage points, missing index was decreased by 1.30 percentage points, precision index was decreased by 7.28 percentage points, and the precision index of qualified seeding spacing was decreased by 4.47 percentage points, all of which met the national standards.

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王淞,赵斌,衣淑娟,赵雪,刘志强,孙悦.基于IGWO-LADRC的电动绿豆播种机控制系统研究[J].农业机械学报,2022,53(s1):87-98. WANG Song, ZHAO Bin, YI Shujuan, ZHAO Xue, LIU Zhiqiang, SUN Yue. Electric-driven Mung Bean Precision Seeder Control System Based on IGWO-LADRC[J]. Transactions of the Chinese Society for Agricultural Machinery,2022,53(s1):87-98.

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  • 收稿日期:2022-06-01
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  • 在线发布日期: 2022-11-10
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