基于改进自抗扰控制的艾草收获滚筒转速稳定控制研究OA

To address the instability of the drum speed in the mugwort harvester caused by load disturbances during operation,we propose a speed stabilization control strategy based on an improved active disturbance rejection control.A mathematical model of the drum load is established to analyze the impact of load disturbances on the dynamic characteristics of the hydraulic system.To enhance the response smoothness and disturbance rejection of the proportional valve under complex working conditions,a smooth nonlinear function shfal is incorporated into the extended state observer of the traditional active disturbance rejection control.This modification overcomes the nonsmoothness of the original fal function at the origin,enabling continuous disturbance estimation and compensation.The co-simulation using AMESim-MATLAB demonstrates that the improved active disturbance rejection control strategy achieves faster response,higher steady-state accuracy and stronger disturbance rejection under steady,sinusoidal and sudden load conditions.The field tests further indicate that the proposed control strategy can significantly improve the leaf-stripping performance,increase the cleanliness rate,reduce the impurity and damage rates and verify its engineering applicability under actual operating conditions.The results indicate that this method effectively suppresses drum speed fluctuations,improves system stability and operational quality,and offers a feasible solution and theoretical basis for optimizing the hydraulic control system of the mugwort harvester.