轩亚光.种植机械深度控制系统液压油黏度PID算法研究[J].河南理工大学学报（自然科学版）,2023,42(4):116-120.

XUAN Y G.Research on PID algorithm for hydraulic oil viscosity in planting machinery depth control system[J].Journal of Henan Polytechnic University(Natural Science) ,2023,42(4):116-120.

种植机械深度控制系统液压油黏度PID算法研究

轩亚光

许昌学院 继续教育学院，河南 许昌 461000

摘要:针对不同温度下使用不同液压油的种植机械种植深度控制系统，提出一种考虑液压油黏度的PID控制算法。首先，采用Ziegler-Nichols（Z-N）第二方法确定PID系数，应用Routh稳定性准则对系数进行优化；其次，采用PID控制器的极点和双零点最小化响应的持续振荡；最后，将算法应用于3种液压油（32号，46号，68号）进行性能验证。仿真结果表明：不考虑黏度的PID控制算法响应速度慢，不满足边界条件，不能对种植深度进行精确控制；考虑黏度的PID算法能精确控制系统比例阀的压力，所有液压油最大压力不超过1.55 MPa，稳定时间不大于0.45 s，稳态误差为0%，最大超调量17.52%，满足设定要求。

关键词:种植机械;种植深度控制系统;液压油黏度;PID控制算法

doi:10.16186/j.cnki.1673-9787.2021080082

基金项目:国家自然科学基金资助项目（51775472）

收稿日期:2021/08/24

修回日期:2021/11/14

出版日期:2023/07/25

Research on PID algorithm for hydraulic oil viscosity in planting machinery depth control system

XUAN Yaguang

Continuing Education College， Xuchang Univeisity， Xuchang 461000， Henan， China

Abstract:A PID control algorithm considering the hydraulic oil viscosity was proposed for the planting depth control system of planting machinery with different hydraulic oil at different temperatures.Fisrstly，the second method of Ziegler-Nichols（Z-N）and the Routh stability criterion were used to determine the PID coefficient and optimize the coefficient，respectively.Secondly，the pole and double zero points of PID controller were used to minimize the continuous oscillation of response.Finally，the algorithm was applied to three kinds of hydraulic oil（32#，46#，68#）for performance verification.The simulation results showed that the PID control algorithm without considering viscosity had slow response speed，and didn’t meet the boundary conditions，couldn’t control the planting depth accurately.The PID algorithm considering viscosity could accurately control the proportional valve pressure of the control system，the maximum pressure of all hydraulic oil was less than 1.55 MPa，the stable time was less than 0.45 s，the steady state error was 0%，the maximum overshoot was 17.52%，and all targets met the requirement fully.

Key words:planting machinery;planting depth control system;hydraulic oil viscosity;PID control algorithm

种植机械深度控制系统液压油黏度PID算法研究_轩亚光.pdf