Resumen
In order to realize the demand for high-quality and high-efficiency harvest in modern agriculture, the grain combine harvesters must have the ability to intelligently adjust the operation parameters. The difficult problem is to establish the multi-parameter control system model for threshing and cleaning devices. The threshing and cleaning devices are located in the same rack space, and the interaction mechanism among agricultural material movement, mechanical structure, and airflow field is very complex. In view of the difficulties in the theoretical modeling of threshing and cleaning devices, a large number of operating parameters and performance indicators, strong coupling, and high requirements for real-time control, the system identification method was used to model the threshing and cleaning system in this paper. Firstly, the amplitude modulated PRBS input signals were designed as the input parameters of the system identification test, and the output signals acquisition test was carried out in the field. Then, the multi-input and multi-output signals of the system were used as training data, and the fusion method of the PSO (particle swarm optimization) algorithm and WNN (wavelet neural network) was proposed to identify it, and the optimal state-space model was obtained. Finally, the model identification and verification experiments were carried out on the threshing and cleaning system of various crops during the actual harvest. The VAF (variance-accounted-for) values of system identification model verification results were greater than or equal to 81.7%, and the RMSE (root mean square error) values were less than or equal to 0.602. The modeling method has high accuracy and adaptability, which laid a good foundation for realizing multi-parameter coordinated control of threshing and cleaning devices.