The tool of the aerial tree obstacle cleaning device inevitably experiences sudden load changes when cleaning tree obstacles near the cutting line.The traditional method usually applies a dual closed-loop control strategy in the tool motor speed control system,but this control method may have disadvantages such as poor adaptability and stability in practical work,and a sudden change in load at a certain speed can cause Windup phenomenon,making the aerial tree obstacle cleaning device unable to work properly.Based on this,in order to avoid the Windup phenomenon during the cleaning process of the tree obstacle cleaning device,the paper adds an Anti Windup current loop controller on the basis of traditional current loop control,solving the problem of integral saturation in the traditional current control loop.Fuzzy control has been added to the traditional PID speed loop control,and a fuzzy control PID speed regulator has been established to improve the adaptive ability of the speed control system of the tree obstacle cleaning device.Finally,the performance of the improved tree obstacle cleaning device speed control system was verified and analyzed.The simulation results showed that the designed air tree obstacle cleaning device speed control system has strong anti-interference ability,can quickly recover after disturbance,and has strong dynamic response following ability when the set speed suddenly changes,which can meet the actual requirements of tree obstacle cleaning engineering.
Power distributionClearing of tree barriersSpeed regulationDesign
维普
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