关键词: 旋耕机, 自动调平, 液压系统, AMESim, 模糊PID, 耕深, 平整度

Abstract: In order to maintain the level of rotary tiller in field operation, an automatic leveling system of rotary tiller was designed in this paper. The system consisted of control system, hydraulic system, threepoint suspension mechanism and actuator. The mathematical model of the machine was established under different conditions, and the simulation model of the hydraulic system was built based on AMESim software. The simulation results showed that the overshoot of the conventional PID algorithm was very obvious, and the stability time required after continuous leveling was more than 2 s, the overall adjustment time is long, which could not meet the requirements of the system, while the response time of the fuzzy PID algorithm was about 1 s, which was basically not overshoot, and the target time and stability time were significantly shorter. Field operation of rotary tiller with or without automatic leveling function was carried out. The results showed that the system with automatic leveling function had a significant improvement over the system without automatic leveling function. The maximum difference of tillage depth and height between the former was 23 cm and the latter was 94 cm. The stability coefficient of the former was 947%, while the latter was 94 cm. The former was less than 108 cm and the latter was less than 28 cm. In this paper, the influence of hydraulic system on leveling was studied, and the response speed of leveling, leveling control precision and system stability were analyzed in depth, which provided a basis for the uniformity of soil leveling and tillage depth of rotary tillage machine.

Key words: rotary cultivator, automatic leveling, hydraulic system, AMESim, fuzzy PID, till depth, flatness