Authors

Abstract

To address challenges in developing the rice-wheat harvester cutting platform controller—such as sensitivity to working conditions, long development cycles, and cumbersome performance testing—a semi-physical simulation platform is designed. Based on the functional requirements of the cutting platform, Simulink is used to build a mathematical model of the controller and its I/O hardware model. A hardware-in-the-loop simulation test platform is developed using the TC377ECU controller. By integrating the Whale Optimization PID algorithm, overshoot is reduced by 3.5%, and rise time improves by 0.303 s compared to conventional PID. Testing in both simulation and real environments shows a maximum absolute error of 10.58 mm for cutting height and a correlation coefficient of 0.9474. The rotational speed errors for the reel and auger have expectations of 0.106 rpm and 0.101 rpm, with standard deviations of 0.165 rpm and 0.172 rpm. This validates the controller’s feasibility, shortens development time, and lowers costs.

Abstract in Chinese

针对稻麦收获机割台控制器开发过程受工况影响较大，传统开发过程周期长，测试控制器性能过程繁琐等问题，设计了一套稻麦收获机割台自动调控系统半实物仿真平台。以稻麦收获机割台功能需求作为开发指标，利用simulink搭建控制器数学模型以及I/O硬线模型，基于TC377ECU控制器搭建硬件在环仿真测试平台。结合鲸鱼优化PID算法对控制策略进行了优化，相较于普通PID，超调量降低了3.5%，上升时间提升了0.303s。通过仿真平台与真实环境进行试验对比，割台高度的最大绝对误差是10.58mm，相关系数为0.9474；拨禾轮和搅龙转速误差的数学期望依次为0.106rpm和0.101rpm，标准差为0.165rpm和0.172rpm，测试了控制器和仿真平台的可行性，缩短了开发周期，降低了开发成本。