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浙江大学学报（农业与生命科学版）
浙江大学学报（农业与生命科学版）  2020, Vol. 46 Issue (4): 509-518    DOI: 10.3785/j.issn.1008-9209.2019.11.021
农业工程     
田间管理机路径跟踪系统设计及试验
黄腾达(),蒋蘋(),胡文武,肖菲菲,吴帆,刘展名
湖南农业大学机电工程学院，长沙 410128
Design and experiment of path tracking system for field management machine
Tengda HUANG(),Pin JIANG(),Wenwu HU,Feifei XIAO,Fan WU,Zhanming LIU
College of Mechanical and Electrical Engineering, Hunan Agricultural University, Changsha 410128, China
 全文: PDF(3116 KB)   HTML
摘要：

为了解决田间管理机前轮转向时内轮差造成的农作物损失问题，本研究提出了一种基于四轮转向田间管理机的路径跟踪算法。以3WPZ-750田间管理机样机为研究对象，设计了一套路径跟踪控制系统，阐述了该田间管理机转向支腿机械结构设计和自动液压转向系统原理，概述了在原有控制系统基础上路径跟踪上位机控制系统的技术路线；基于四轮转向模型，进行纯追踪算法车轮转向角控制研究；基于微软集成开发环境（visual studio）编写了路径跟踪控制界面；并分别于水泥路面和南方水田环境下进行直线路径跟踪试验与曲线路径跟踪试验。结果表明：在0.5 m/s的车速下，田间管理机在水泥路面上的路径跟踪误差均值为6.92 cm，标准差为4.84 cm；定曲率曲线路径跟踪误差均值为12.49 cm，标准差为9.16 cm。在0.2 m/s车速下，在南方水田环境下的路径跟踪误差均值为2.25 cm，标准差为1.35 cm；定曲率曲线路径跟踪误差均值为8.72 cm，标准差为5.59 cm。说明本研究设计的路径跟踪系统能够满足田间管理机行驶以及田间作业需要，为农业机械自动驾驶提供了一定依据。
关键词： 田间管理机;  路径跟踪;  自动转向;  纯追踪算法    
Abstract:

In order to solve the problem of crop loss caused by the internal wheel difference when the front wheels of the field management machine were turned, this study proposed a path tracking algorithm based on the four-wheel steering field management machine. Taking the 3WPZ-750 field management machine as the research object, a set of path tracking control system was designed. First, the mechanical structure design of the research subject’s steering outriggers and the principle of the automatic steering hydraulic system were explained. Second, the technical route of the path tracking host computer control system based on the original control system was outlined. Then, based on the four-wheel steering model, a pure tracking algorithm was used for wheel steering angle control research. Finally, the path tracking control interface was written based on Microsoft integrated development environment (visual studio). Through its experimental platform, the straight path tracking and curved path tracking experiments were carried out on the cement pavement and the southern paddy field environment, respectively. The results showed that at the speed of 0.5 m/s, the field management machine had a path tracking error of 6.92 cm on the cement pavement, and its standard deviation was 4.84 cm; while the mean value of the path tracking error of the fixed curvature curve was 12.49 cm, and its standard deviation was 9.16 cm. At the speed of 0.2 m/s, on the southern paddy field, the mean value of the path tracking error was 2.25 cm, and its standard deviation was 1.35 cm; while the mean tracking error of the fixed curvature curve was 8.72 cm, and its standard deviation was 5.59 cm. The above results indicate that the path tracking algorithm proposed in this study can meet the needs of field management machines and field operations, and provide a basis for automatic driving of agricultural machinery.
Key words: field management machine    path tracking    automatic steering    pure tracking algorithm
收稿日期: 2019-11-02 出版日期: 2020-09-11
CLC:  S 24  
基金资助: 国家重点研发计划(2017YFD0700903-2);湖南省重点研发计划(2018NK2063)
通讯作者: 蒋蘋     E-mail: 153807564@qq.com;teacher_jp@163.com
作者简介: 黄腾达（https://orcid.org/0000-0003-0429-9217），E-mail：153807564@qq.com
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黄腾达
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刘展名

引用本文:

黄腾达,蒋蘋,胡文武,肖菲菲,吴帆,刘展名. 田间管理机路径跟踪系统设计及试验[J]. 浙江大学学报（农业与生命科学版）, 2020, 46(4): 509-518.

Tengda HUANG,Pin JIANG,Wenwu HU,Feifei XIAO,Fan WU,Zhanming LIU. Design and experiment of path tracking system for field management machine. Journal of Zhejiang University (Agriculture and Life Sciences), 2020, 46(4): 509-518.

链接本文:

http://www.zjujournals.com/agr/CN/10.3785/j.issn.1008-9209.2019.11.021    或    http://www.zjujournals.com/agr/CN/Y2020/V46/I4/509

图1  田间管理机机械结构1：施肥斗；2：转向轴；3：转向轴套；4：转向马达（接减速机）；5：发动机罩；6：驾驶台；7：药箱；8：液压油箱；9：喷杆；10：车轮；11：角度传感器。
图2  液压转向系统示意图1：前轮转向电磁阀；2：后轮转向电磁阀；3：转向马达；4：旁通阀。
图3  角度传感器去噪效果
图4  目标转向角与实际转向角误差
图5  路径跟踪技术路线
图6  四轮转向模型
图7  纯追踪模型

航向偏差

Heading

deviation

横向偏差 Lateral deviation
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NBNBNBNBNBNMNMNB
NMNBNBNMNMNSNSNB
NSNBNMNMNSZONSNM
ZONMNMNSZOPSZONM
PSNMNSZOPSPSPMNS
PMNSZOPSPMPMPMZO
PBZOPSPMPMPMPBPM
表1  模糊控制规则表
图8  仿真效果
图9  试验平台
图10  水泥路面试验效果
图11  水田试验效果
图12  水泥路面曲线跟踪
图13  水田曲线跟踪
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