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基于变论域模糊控制算法的树木年轮测量仪直流电机转速控制 预览

DC motor speed control of annual-ring measuring instrument based on variable universe fuzzy control algorithm
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摘要 为提高电机转速控制精度,分析了PID控制算法和变论域模糊控制算法原理,分别使用这2种控制算法控制年轮测量仪直流电机,并对落叶松、油松、云杉、山杨、白桦、红桦、辽东栎等7个树种圆盘进行测试,每个树种测试10次。变论域模糊控制算法电机转速在电机启动后约90ms后进入稳定状态,PID控制算法约需要160ms才进入稳定状态。在70组测试数据中,变论域模糊控制算法的误差标准差的总平均值是33.8r/min,PID控制算法的误差标准差的总平均值是40.3r/min,模糊控制算法的控制精度比PID控制算法高0.21%。试验结果表明:变论域模糊控制算法与PID控制算法相比,变论域模糊控制算法响应速度快、鲁棒性好、稳态误差小。在变论域模糊控制算法的控制下,年轮测量仪对7个树种的平均年轮测量精度是84.38%,而PID控制算法下的平均测量精度是78.13%。因此,年轮测量仪直流电机控制算法选用变论域模糊控制算法。 A annual-ring measuring instrument drives a drill needle into a tree by a DC motor and determines the age of the tree according to the change of the resistance of the drill needle.Because the density of trees varies greatly among different tree species,even in the same tree,the density of early wood and late wood also varies greatly,the resistance of the drill needle varies greatly and the load of the DC motor varies greatly.If the DC motor is not controlled by a suitable speed control algorithm,the speed error of the DC motor will be very large.The measuring accuracy of the annual-ring measuring instrument decreases with the increase of the DC motor speed error.How to improve the accuracy of motor speed is one of the key technologies in the annual-ring measuring instrument.The principle of PID control algorithm and variable universe fuzzy control algorithm were analyzed.The two control algorithms were used to control DC motor of annual ring measuring instrument,respectively.The discs of 7 tree species,including Larix,Pinustabulaeformis,Spruce,Poplar,Betula platyphylla,Betula koraiensis and Quercus liaotungensis were drilled by the annual-ring measuring instrument that was controlled by PID control algorithm and variable universe fuzzy control algorithm,respectively.The experimental tree species included conifers,hard broadleaf trees and soft broadleaf trees.The wood density distribution of experimental trees basically covered the density distribution range of common trees in temperate zone.Five discs were selected for each experimental tree species,and each disc was tested twice with the two control algorithms,respectively.The starting measurement points of the two control algorithms were as close as possible and the measurement directions of the two control algorithms were the same in every group test to ensure that the drilling paths of two control algorithms in the disc was close,and the difference of wood properties of the two drilling paths was little.The starting characteristics of DC motor,the standard de
作者 姚建峰 卢军 郑一力 王雪峰 赵燕东 尘兴灿 雷冠南 唐守正 Yao Jianfeng;Lu Jun;Zheng Yili;Wang Xuefeng;Zhao Yandong;Chen Xingcan;Lei Guannan;Tang Shouzheng(Research Institute of Forest Resources Information Techniques,Chinese Academy of Forestry,Beijing 100091,China;College of Computer and Information Technology,Xinyang Normal University,Xinyang 464000,China;School of Technology,Beijing Forestry University,Beijing 100083,China)
出处 《农业工程学报》 EI CAS CSCD 北大核心 2019年第14期57-63,共7页 Transactions of the Chinese Society of Agricultural Engineering
基金 中央级公益性科研院所基本科研业务费专项资金重点项目(CAFYBB2018SZ007)
关键词 算法 模糊控制 树木年轮测量仪 PID控制 变论域 algorithms fuzzy control annual-ring measuring instrument PID control variable universe
作者简介 姚建峰,博士生,讲师,研究方向为林业装备自动化。Email:249749251@qq.com;通信作者:唐守正,博士,研究员,中国科学院院士,研究方向为林业统计和生物数学模型。Email:stang@caf.ac.cn
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