Abstract
High ground clearance self-propelled sprayers usually work in complex road conditions. Due to the large body mass, wide spray boom breath and high center of gravity, the body and spray boom swing sharply during work, which affects operation quality and even endangers safety. This paper proposes a control plan for timely-started active hydro-pneumatic suspension, and designs a fuzzy PID control system based on genetic algorithm optimization. First, MATLAB software is used to simulate and analyze the model, so that the fuzzy PID control optimized by genetic algorithm is obtained. When the sprayer drives on D-grade road, as the speed increases, in comparison between the damping effect of the active suspension and traditional passive suspension, the corresponding root mean square value of vehicle body vibration acceleration decreases by 11.36 and 12.36%, respectively. On the E-grade road surface, with the increase of speed, the corresponding root mean square value of vehicle body vibration acceleration decreases by 13.25 and 14.89%, respectively. Based on indoor bench experiments, the proposed control strategy was verified. Under field road excitation, when the sprayer traveled at 5 km/h, the root mean square acceleration values of the passive and active suspensions were 1.080 and 0.847 m/s2, respectively; when the sprayer traveled at 8 km/h, the root mean square acceleration values of the passive and active suspensions were 1.412 and 1.125 m/s2, respectively, with the root mean square values of vibration acceleration reduced by 21.57 and 20.33%, respectively. Under sand-gravel road condition, when the sprayer traveled at 5 km/h, the root mean square acceleration values of the passive and active suspensions were 1.149 and 0.891 m/s2, respectively; when the sprayer traveled at 8 km/h, the root-mean-square acceleration values of the passive and active suspensions were 1.572 and 1.229 m/s2, respectively, with the root mean square values of vibration acceleration reduced by 22.45 and 21.82%, respectively. During the active control process, the suspension displacement is always kept within the limited range, and as the vehicle speed and road surface level increase, the active suspension has a significantly better damping effect than the passive suspension, which proves effectiveness of the active damping scheme.
Highlights
As an important intelligent plant protection machine (Sharda et al, 2013), high ground clearance self-propelled sprayer has wide applications, high efficiency, and precise plant protection operations, have a broad vision of application
The optimized fuzzy rules are imported into the fuzzy controller, and the active hydro-pneumatic suspension system is simulated, with simulation results shown in Figures 6, 7
In view of the suspension system of high ground clearance selfpropelled sprayer, this study designs a timely started hydropneumatic suspension based on fuzzy PID control strategy optimized by genetic algorithm, performs modeling simulation, and carries out indoor bench experiment verification, with the conclusions drawn as follows: (1) During system simulation, the sprayer is driving on Dgrade road
Summary
As an important intelligent plant protection machine (Sharda et al, 2013), high ground clearance self-propelled sprayer has wide applications, high efficiency, and precise plant protection operations, have a broad vision of application. To solve the problem of severe vibration of high ground clearance self-propelled sprayer under complex environmental conditions, especially under large ground undulations, this paper takes the 1/4 active hydro-pneumatic suspension model as the research object, and proposes a timely-started active hydropneumatic suspension scheme to design a fuzzy PID control system based on genetic algorithm optimization. When the sprayer travels on bumpy road, the solenoid valve is controlled to open, and the Fuzzy-PID control solenoid valve optimized by genetic algorithm directly acts on the cylinder of the hydro-pneumatic spring of the actuating mechanism to charge and discharge the oil in real time, so that hydro-pneumatic spring force is controllable, achieving damping of active suspension. In view of the designed active hydro-pneumatic suspension control system model, the fuzzy control rules are optimized by the genetic algorithm through MATLAB software programming. A fuzzy PID control model is built in Matlab/Simulink and co-simulated with the active hydropneumatic suspension model using random road model as the road excitation
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