自走式无人驾驶植保机用发动机转速控制系统设计

针对自走式无人驾驶车辆在起步、换挡过程中产生强烈的顿挫感,甚至导致车辆突发性前窜的现象,开发基于扭矩需求的发动机转速控制系统。该系统能够根据发动机扭矩需求的变化,调整比例积分微分(proportion integral differential,PID)控制参数,实现对节气门开度的控制,达到调整转速的目的。研究车辆起步、换挡过程中发动机扭矩的变化规律,确定发动机转速控制目标;运用神经元自适应PID算法,对发动机转速进行闭环控制,解决传统PID最佳参数设置问题;选用永磁直流电动机对节气门进行控制,解决传统油门电机精准性问题。试验结果表明,该控制系统能够根据扭矩变化调整发动机转速,并能在短时间内使发动机运行达到稳定状态,对发动机转速控制具有较好的动态特性。

Design of Engine Speed Control System for Self-Propelled Unmanned Plant Protection Machine

An engine speed control system based on torque requirement is developed to solve abrupt starting, shifting process even the sudden forward movement of self-propelled unmanned vehicle. The PID control parameters can be adjusted according to the change of engine torque requirement in order to control throttle opening and adjust speed. In this design, the control objective of engine speed is confirmed by the change rules of engine rotation and torsion variation during vehicle starting and shifting process. The engine speed is closed-loop controlled to solve the problem of optimum parameter setting of traditional PID using neuron adaptive PID algorithm. The throttle valve is controlled by permanent magnet DC motor to solve the precision problem of traditional throttle motor. The experimental results show that the control system can adjust the engine speed based on the torque change and make the engine run stably in a short time with good dynamic characteristics for the engine speed control.