Objective:To improve the control accuracy of Camellia oleifera fruit picking,and to improve the problems of too high oscillation frequency and excessive overshoot in the traditional PID algorithm were improved.Methods:Based on the incremental PID Camellia oleifera picking control strategy,a sampling device was added on the basis of the traditional PID to obtain discrete signals,the optimal vibration frequency was obtained through mathematical modeling and solution of the control system,and various working environments of the system were simulated by MATLAB/Simulink software.Results:After adding the incremental PID control system,the oscillation frequency of the system was reduced by 12％,the overshoot was reduced by 16％,and the steady-state adjustment time was shortened by 45 s.Conclusion:The incremental PID control algorithm could reduce the oscillation frequency,improve the control accuracy,and strengthen the anti-interference ability of the system,and obtain the best working frequency to reduce the fruit damage rate and bud drop rate.
维普
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