中文摘要：

针对采棉机作业速度影响采棉效率的问题,提出基于模糊PID控制技术的采棉机作业速度实时调整算法,建立行走速度调节模型,实现采棉机作业速度最优控制。该算法通过实时获取棉花在线流量,经采棉输入负荷梯度堵塞条件约束,并将模糊算法和常规PID控制相结合,应用模糊规则和推理方法对PID参数进行在线整定,实时调节行走速度,实现作业速度最优控制。借助基于FPGA的硬件控制器在4MZ-5型采棉机上进行了试验研究。试验表明：所提出的算法可以根据棉花在线流量当量大小实时调整作业速度,提高了采棉机作业效率;有效避免了因采棉量过大造成的输棉管堵塞故障,提高了采棉机智能化水平。

英文摘要：

The working efficiency of cotton-picking machine is always influenced by its working speed. To solve this problem, an algorithm for real-time adjusting the working speed was put forward based on fuzzy PID control technology. The walking speed regulation model was also established to achieve the optimal control of the working speed of cotton-picking machine. The algorithm combined the traditional PID control with fuzzy algorithm by acquiring the real-time parameters under the input load gradient congestion conditions, such as cotton production online. Both the fuzzy rules and reasoning method of PID were used to set online parameters and adjust the real-time working speed to achieve optimal control of operating speed. The field test was conducted by using 4MZ- 5 five-line cotton-picking machine based on FPGA hardware. The testing result showed that the algorithm response speed was stable in 75 s. According to the cotton volume of online production, several parameters were adjusted by using fuzzy rules under the load gradient and block boundary conditions, which ensured the stability of picking up for cotton-picking machine with the best speed and improved working efficiency. It also reduced the loss in the process of picking cotton, and effectively avoided the tube plugging failure as a result of large amount of cotton. The system showed a strong flexibility and versatility and it could be used to reduce the driver＇ s workload and improve the automation and information level for large equipment.