基于可编程逻辑控制器的核桃振动采收控制系统设计与仿真

doi:10.11707/j.1001-7488.LYKX20240430

Abstract

Abstract:

Objective: To solve the problems of difficult harvesting, low efficiency, and high cost existing in the traditional manual harvesting method of walnuts. According to the development trend of walnut planting areas in China towards standardized orchards, a walnut vibration harvesting control system based onprogrammable logic controller (PLC) is designed. And the feasibility of the walnut vibration harvesting control system is verified through simulation tests, so as to improve the automation level of walnut vibration harvesting, reduce the difficulty of manual harvesting, and increase the harvesting efficiency. Method: The trunk point cloud is collected by a LiDAR. The data is preprocessed in the Visual Studio 2017 environment, and the trunk information at the optimal point cloud intensity is segmented. The trunk diameter is extracted by using the least square circle fitting method. A fuzzy PID controller is designed by applying the MATLAB software. The system block diagram is built by Simulink to find the optimal parameters of the controller, so as to improve the feasibility of the walnut vibration harvesting control system. The PLC program is designed by using the TIA Portal software to realize the functions of the telescopic vibration arm, clamping function, and vibration function. The human-machine interface is designed by using the Kingview software, and the communication between the PLC and the human-machine interface is realized through ethernet to achieve real-time monitoring after the system runs. The feasibility of the walnut vibration harvesting control system is verified through simulation and physical experiments. Result: By applying the MATLAB software, the optimal parameters of the controller are obtained as K_p = 7.682, K_i = 5.675, and K_d = 1.675. The simulation verification results of the clamping force and vibration frequency under different moving distances and trunk diameters show that when the telescopic distance is between 20 and 100 cm, the error is between 0.02% and 0.15%; when the trunk diameter is between 15 and 20 cm, the clamping force error is stable between 1.20% and 2.72%; and the vibration frequency error is between 0.67% and 3.00%. Through the verification of actual harvesting, the control system can accurately control the movement, clamping, and vibration of the vibration arm. The harvesting efficiency is more than 7 times that of manual harvesting, and the harvesting completion rate is above 81%. Conclusion: In this study, a walnut vibration harvesting control system based on PLC is proposed and designed, and the feasibility of the system is verified through simulation tests. This vibration harvesting control system is suitable for walnut harvesting in standardized orchards, provides a scientific basis and practical guidance for the intelligentization of walnut vibration harvesting, and effectively improves the walnut harvesting efficiency.

Key words: control system, vibrating harvesting, tree trunk recognition, programmable logic controller (PLC)

CLC Number:

S225

Yu Ru,Guopeng Xu,Gaoming Fan,Qiujie Li,Yongkui Yi,Li Ding,Hongping Zhou. Design and Simulation of Walnut Vibration Harvesting Control System Based on PLC[J]. Scientia Silvae Sinicae, 2025, 61(8): 11-24.

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参数 Parameter	数值Value
尺寸 Dimension	103 mm×72 mm
质量 Quality	830 g
工作温度 Operating temperature	?10~60 ℃
测量数据 Measurement data	双回波距离及强度 Double echo distance and intensity
最大测量距离 Maximum measurement range	100 m
精度 Accuracy	±3 cm
垂直视场 Vertical field of view	30°
水平视场 Horizontal field of view	360°
垂直角度分辨率 Vertical angular resolution	2°
水平角度分辨率 Horizontal angular resolution	0.1°~0.4°
测量频率Measurement frequency	5~20 Hz

序号 No.	VLP-16高度 VLP-16 height/cm	测量直径 Measure the diameter/cm				提取直径 Extract the diameter/cm
序号 No.	VLP-16高度 VLP-16 height/cm	下 Lower	中 Middle	上 Top	平均 Average	提取直径 Extract the diameter/cm
1	85	74.60	72.20	65.50	70.77	66.72
2	85	77.50	67.60	62.80	69.30	64.64
3	85	59.60	53.40	51.70	54.90	50.49
4	85	65.40	55.40	54.70	58.50	53.61
5	85	57.00	49.80	48.30	51.70	46.92
6	85	71.30	57.70	54.30	61.10	56.34
7	114	54.50	45.30	41.20	47.00	42.51
8	85	49.40	38.90	35.50	41.27	36.58
9	85	64.50	57.80	54.30	58.87	54.47
10	85	79.40	70.30	67.00	72.23	67.49
11	85	72.10	56.70	52.50	60.43	55.50
12	85	64.30	55.90	55.00	58.40	53.62
13	85	54.20	46.60	44.80	48.53	44.36
14	85	59.70	50.10	51.00	53.60	49.07
15	85	69.00	63.20	61.40	64.53	59.98
16	85	78.00	69.50	63.20	70.23	65.98
17	70	79.00	67.80	62.80	69.87	65.37
18	65	88.20	78.10	61.50	75.93	71.52
19	65	78.80	77.70	69.70	75.40	70.42
20	65	73.60	58.80	55.00	62.47	57.59
21	65	54.00	45.00	48.30	49.10	44.72
22	65	76.20	67.90	62.00	68.70	63.99
23	65	39.70	29.50	29.80	33.00	28.62
24	65	60.20	51.60	47.20	53.00	48.37
25	93	66.20	57.40	50.20	57.93	53.15
26	65	57.00	46.90	44.20	49.37	45.28
27	65	55.70	49.50	44.40	49.87	45.32
28	92	81.40	87.00	79.10	82.50	78.45
29	92	71.00	56.20	50.90	59.37	54.70
30	92	47.70	37.40	36.20	40.43	35.87

型号Model	6ES7214-1AG40-0XB0
名称Designation	S7-1214C DC/DC/DC
存储空间Storage space	150 kB
I/O接口Input/output interface	14DI，2AI，10DO

e	$ \mathrm{d}e/\mathrm{d}t $
e	NB	NM	NS	O	PS	PM	PB
NB	PB	PB	PB	PB	PM	PS	O
NM	PB	PB	PB	PB	PM	O	O
NS	PM	PM	PM	PM	O	PS	NS
O	PM	PM	PS	O	NS	NS	NM
PS	PS	PS	O	NS	NM	NM	NM
PM	PS	O	NS	NM	NM	NM	NB
PB	O	O	NM	NM	NM	NB	NB

名称 Designation	地址 Address
启动按钮Start button	I0.0
停止按钮Stop button	I0.1
红外传感器Infrared sensor	I0.2
压力传感器Pressure sensor	I0.3
激光雷达LiDAR	I0.4
限位开关Limit switch	I0.5
伸缩液压缸Telescopic hydraulic cylinder	Q0.0
1#摆动液压缸1# swing hydraulic cylinder	Q0.1
2#摆动液压缸2# swing hydraulic cylinder	Q0.2
夹持液压缸Clamping hydraulic cylinder	Q0.3
液压马达Hydraulic motor	Q0.4

Design and Simulation of Walnut Vibration Harvesting Control System Based on PLC

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图序 Figure No.	模糊PID控制器 Fuzzy PID controller			PID控制器 PID controller
图序 Figure No.	上升时间 Rise time/s	稳定时间 Settling time/s	超调量 Overshoot （%）	上升时间 Rise time/s	稳定时间 Settling time/s	超调量 Overshoot （%）
a	1.52	15	0	0.8	5.3	0
b	1.12	7.74	9.4	1.01	9.23	22.7
c	1.92	11.95	0.7	2.03	14.44	4.6
d	1.68	4.13	0.4	1.63	11.05	6.9

试验次数 Number of trials	距离设定值 Set value of distance/cm	实际移动距离平均值 Avg. actual moving distance/cm	移动时间 Moving time/s	位移误差 Displacement error（%）
1	20	19.97	2	0.15
2	40	39.98	4	0.05
3	60	59.97	6	0.02
4	80	79.98	8	0.03
5	100	99.98	10	0.02

树干直径 Trunk diameter/cm	设定夹持力 Set clamping force/N	实际夹持力平均值 Avg. actual clamping force/N	平均消耗时间 Average time consumption/s	夹持力误差 Clamping force error（%）
15	2 500	2 432	5.2	2.72
16	2 600	2 555	5.2	1.73
17	2 700	2 648	5.3	1.93
18	2 800	2 742	5.5	2.01
19	2 900	2 846	5.5	1.86
20	3 000	2 964	5.6	1.20

树干直径 Trunk diameter/ cm	设定值 Set value		实际值 Actual value		误差 Error
树干直径 Trunk diameter/ cm	振动频率 Vibration frequency/Hz	振动时间 Vibration time/s	振动频率 Vibration frequency/Hz	振动时间 Vibration time/s	振动频率 Vibration frequency（%）
15	10	15	9.7	21	3.00
16	11	20	10.7	27	2.72
17	12	25	11.8	31	1.67
18	13	35	12.7	43	2.31
19	14	45	13.8	53	1.43
20	15	50	14.9	59	0.67

序号 No.	振落果实 Fruit shaking off		仍在树上果实 The fruits still on the tree		采净率 Harvesting efficiency （%）
序号 No.	青果 Green fruit/piece	黑果 Black fruit/piece	青果 Green fruit/piece	黑果 Black fruit/piece	采净率 Harvesting efficiency （%）
1	55	25	12	6	81.6
2	86	50	17	14	81.4
3	116	114	10	14	90.6
4	82	61	8	4	92.3
5	92	62	10	5	91.1
6	72	42	17	4	84.4
7	82	41	9	2	91.8
8	147	59	22	8	87.3
9	103	86	24	6	86.3
10	176	116	27	7	89.6
11	182	92	42	13	83.3
12	158	82	19	3	91.6
13	154	19	7	5	93.5
14	112	35	9	5	91.3
15	221	14	8	7	94

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