核桃振动采摘机设计与电液控制系统优化

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中图分类号：S225.93 文献标识码：A 文章编号：2095-5553（2026）03-0193-08

Abstract：TheaimofthisstudywastoimprovetheautomationlevelofwalnutharvestinginXinjiangregionandaddress theineficiencyissuescausedbymanualbeatingand tractorshaking.APLC-controlledhydraulicvibrating walnutharvester wasdesigned，anda fuzzyPIDcontrol strategy optimized byanadaptivequantum geneticalgorithm（MOP—AQGA）was proposedtoensurethestabilityofthehydraulicsystemandconstantvibrationfrequency.Firstly，thestructureand hydraulicsystemoftheharvesterweredesigned，andnonlinearrotationanglecalculationandmutationrateadjustment wereintroducedintothecontrolstrategy.Thequantizationfactorsandproportionalfactorsof thecontrolerwereoptimized throughmulti-operatorcooperativeevolution.Thecontrolsystemperformancewasverifiedbyusingjointsimulationsin AMESim and Simulink，where the results showed that at a vibration frequency of 23Hz ，the maximum overshoot was 1.6% ， the average error was $4 . 6 1 ～ ＼mathrm { { ＼font ～ r / ＼ m i n } }$ ，and the settling time was 1.32s. The system demonstrated good response speed， speedregulationrangetrackingandstabilityFinaly，thewalnut vibratingharvesteranditscontrolsystem wereassembledfor performancetesting，tofurthervalidatethatthecontrolsystemexhibited stronganti-interferencecapablityand robustness，meeting the control requirements for the vibrating walnut harvester.

Keywords：walnut vibrating harvester； fuzzy PID control;adaptive mechanism；quantum genetic algorithm

0 引言

南疆地区核桃产业发展迅速，近些年来种植面积以每年20khm2 的速度增长，目前整体面积接近 400khm2[1] 。（剩余11865字）