Study On Intelligent Control Of Picking Device Of Reed Shoot Harvester

The reed shoot has a high nutritional and economic value,but it grows in swampy areas where the harvesting environment is poor.In order to harvest the reed shoot efficiently and save manpower,material and financial resources,the team developed a breakaway reed shoot harvester to address this problem.The principle of the harvester is to adjust the height and angle of the actuator by manually manipulating the lever,so that the harvesting device can be in the right position for harvesting reed shoots.In order to improve the efficiency and safety of the harvester,an intelligent algorithm-optimized controller was designed to stabilize the height and angle of the actuator in the presence of disturbing loads and deviations from the center of gravity,as well as to stabilize the speed of the picking device in time before and after breaking the reed shoot.In order to optimize the control system of the reed shoot harvester to achieve these control effects,this paper uses a fuzzy PID controller with genetic algorithm optimized fuzzy rules and affiliation function to control its actuator.In order to further improve the performance of the controller,a fuzzy controller in series with a PID controller can effectively improve the static response of the system and eliminate static errors in a timely manner.The fuzzy PID controller optimized by genetic algorithm is designed to be able to control the valve-controlled hydraulic motor system and the valve-controlled hydraulic cylinder system of the reed shoot harvester in a proprietary manner,in order to surpass the control performance of a fuzzy PID controller based on generalized expert experience.In order to design a proprietary controller for the reed shoot harvester,this paper firstly determines the load variation interval of each actuator under normal operation based on the results of the pull-off test and mechanical analysis of the reed shoot;then mechanically models the actuator based on the load variation interval and the form of action,and derives the mathematical relationship between the force of each hydraulic element and the load acting at different positions and angles of the actuator.Secondly,the hydraulic system is designed according to the functional requirements of the reed shoot harvesting machine,including the determination of the line distribution and the selection of components;then the mathematical models are established for the valve-controlled hydraulic cylinder system and the valve-controlled hydraulic motor system respectively,and the optimization of the fuzzy PID controllers of the two subsystems is implemented by the genetic algorithm according to the mathematical models using Matlab software;finally,the simulation results and the simulation results based on Finally,the simulation results based on Simulink tool and the harvesting test were used to verify the feasibility of the reed shoot harvester actuator control system.According to the simulation and test results,the fuzzy PID controller based on the genetic algorithm has good control characteristics,and the valve-controlled hydraulic cylinder system and valve-controlled hydraulic motor system have rapid and smooth response,and have good anti-interference ability,and the performance indexes in all aspects of the harvesting work have been greatly improved,which can well meet the work requirements of the reed shoot harvester in the harvesting process.