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浙江大学学报（农业与生命科学版）
Journal of Zhejiang University (Agriculture and Life Sciences)  2023, Vol. 49 Issue (2): 280-292    DOI: 10.3785/j.issn.1008-9209.2022.01.241
Agricultural engineering     
Design and optimization of main structure of unmanned vehicle-based field crop phenotyping platform
Zheng TANG1,2(),Yue YU1,2,Yufei LIU1,2,Haiyan CEN1,2()
1.College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, Zhejiang, China
2.Key Laboratory of Spectroscopy Sensing, Ministry of Agriculture and Rural Affairs, Hangzhou 310058, Zhejiang, China
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Abstract  

This study aims to design and optimize the main structure of a stable and lightweight unmanned vehicle-based field crop phenotyping platform. In order to meet the requirement of high safety, high stability, and lightweight, Pro/Engineer Wildfire 5.0 software was used to design the main structure model of the platform, and HyperWorks 2020 software was employed to perform the finite element analysis and optimize the structure model. Meanwhile, the statics and dynamics analysis of the structure was implemented during the design process. Taking the main structural mass as the objective function, with the material yield limit and the first-order mode as the constraints, the design of experiment (DOE) method was applied to extract the structural parameters of parts with the high sensitivity to the first-order mode and stress under multi-working conditions as design variables, which greatly reduced the variable number. Then, the adaptive response surface method (ARSM) was applied for iterative calculation to obtain the optimal variables. Compared with the corresponding output response of the actual finite element model, the ARSM approximate model produced a low error of 3.79% and 4.32% in the main structure mass and the first-order modal frequency, respectively, which also obtained the maximum stress error of 4.24%, 4.14%, and 1.26% under the static and uniform speed conditions, starting conditions, and emergency shutdown conditions, respectively. These results show that the ARSM approximate model has a high accuracy and the error is less than 5%. Compared with the original structure, the final overall mass was reduced by 63.61% at maintaining the safety factor of each working condition above 5.0. As a result, the main structure of field crop phenotyping platform is obtained with high safety factor and meeting usage requirements.

Key words： field crop phenotyping platform      unmanned vehicle      finite element analysis      structural optimization      adaptive response surface method     
Received: 24 January 2022      Published: 27 April 2023
CLC:  S224.9  
Corresponding Authors: Haiyan CEN     E-mail: zhengtang@zju.edu.cn;hycen@zju.edu.cn
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Zheng TANG
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Cite this article:

Zheng TANG,Yue YU,Yufei LIU,Haiyan CEN. Design and optimization of main structure of unmanned vehicle-based field crop phenotyping platform. Journal of Zhejiang University (Agriculture and Life Sciences), 2023, 49(2): 280-292.

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https://www.zjujournals.com/agr/10.3785/j.issn.1008-9209.2022.01.241     OR     https://www.zjujournals.com/agr/Y2023/V49/I2/280


田间作物表型获取无人车平台主体结构设计与优化

本研究旨在设计和优化一种稳定、轻量化的无人车载田间作物表型获取平台主体结构。为了满足高安全性、高稳定性、轻量化的要求，采用Pro/Engineer Wildfire 5.0软件设计无人车平台主体结构模型，并采用HyperWorks 2020软件进行有限元分析和结构模型优化。同时，在设计过程中对结构进行静力学和动力学分析。以结构整体质量最小化为目标函数，以材料屈服强度和一阶模态为约束条件，采用试验设计法提取多工况下对一阶模态和应力敏感的部件结构参数作为设计变量，大大减少了变量数量。应用自适应响应面法进行迭代计算，优化获取自适应的结构变量。与有限元模型的对应输出响应相比，自适应响应面近似模型在主体结构质量和一阶模态频率的误差分别为3.79%和4.32%，在静止与匀速、启动、停车工况下的最大应力误差分别为4.24%、4.14%和1.26%，表明自适应响应面近似模型具有满足设计要求的精度且误差均低于5%。相比于优化前的主体结构，在保持各工况安全系数在5.0以上的情况下，实现整体质量减少63.61%，得到了安全系数高、稳定性强的田间作物表型获取平台主体结构。


关键词： 田间作物表型获取平台,  无人车,  有限元分析,  结构优化,  自适应响应面法 
Fig. 1 Schematic diagram of unmanned vehicle (capable of loading 150 kg)
Fig. 2 Schematic diagram of main structure of unmanned vehicle platform
Fig. 3 Simplified diagram of main structure of unmanned vehicle platformL: Cantilever length; F: Load; Y: Maximum deflection.
Fig. 4 Schematic diagram of the minimum extension length of the front part of main structure of unmanned vehicle platform
Fig. 5 Schematic diagram of the load setting
Fig. 6 Schematic diagram of the field route planning of information acquisition platform
Fig. 7 Static analysis of main structure of unmanned vehicle platform under various working conditionsA. Deformation nephogram under static and uniform speed conditions (maximum displacement 0.40 mm); B. Stress nephogram under static and uniform speed conditions (maximum Von Mises stress 18.43 MPa); C. Deformation nephogram under emergency shutdown conditions (maximum displacement 0.47 mm); D. Stress nephogram under emergency shutdown conditions (maximum Von Mises stress 15.53 MPa); E. Deformation nephogram under starting conditions (maximum displacement 0.39 mm); F. Stress nephogram under starting conditions (maximum Von Mises stress 21.22 MPa).

路面类型

Road surface type

道路不平度波长

Wavelength of road roughness (λ)/m

平坦公路 Flat road1.00～6.30
未铺装路面 Unpaved road0.77～2.50
搓板路 Washboard road0.74～5.60
碎石路 Gravel road0.32～6.30
Table 1 Wavelengths of road roughness for different road surface types
Fig. 8 Top 10-order modal diagram of main structure of unmanned vehicle platform
Fig. 9 The first-order modal diagram of main structure of unmanned vehicle platform without support elements
Fig. 10 Main effect curves of each responseA. Main effect curve of main structure mass; B. Main effect curve of main structure stress under static and uniform speed conditions; C. Main effect curve of main structure stress under emergency shutdown conditions; D. Main effect curve of main structure stress under starting conditions; E. Main effect curve of the first-order mode of main structure.

主效应

Main effect

各组变量灵敏度排序（降序）

Descending order of sensitivity of each group variables

12345678910
质量 MassP12P11P2P15P16P10P25P4P5P19

静止与匀速工况下冯·米塞斯应力

Von Mises stress under static and uniform speed conditions

P12P16P26P23P19P27P13P17P11P7

停车工况下冯·米塞斯应力

Von Mises stress under emergency shutdown conditions

P12P19P23P13P17P11P26P27P16P25

启动工况下冯·米塞斯应力

Von Mises stress under starting conditions

P12P16P26P27P17P13P19P23P7P28
一阶模态 The first-order modeP5P16P28P27P30P29P1P10P18P17
Table 2 Ranking of sensitivity of each group variables under different main effects (top 10)
Fig. 11 Final design variable grouping diagram
Fig. 12 Flow chart of adaptive response surface method
Fig. 13 Optimization iterative process for main structure massObjective function iteration curve of ARSM.

部件序号

Part number

初始值

Initial value

最优解

Optimal solution

其余部件 Rest of the parts3.01.0
P123.01.0
P163.02.5
P193.01.5
P53.01.0
P263.01.0
P233.01.0
P283.01.0
P273.01.0
P133.01.0
P173.01.5
Table 3 Thickness variation of each part
Fig. 14 Schematic diagram of thickness distribution of main structure of unmanned vehicle platform after optimization

响应

Response

近似值

Approximate value

准确值

Exact value

相对误差

Relative error/%

主体结构质量 Main structure mass/t0.035 50.036 93.79
一阶模态频率 The first-order modal frequency/Hz16.603 917.353 74.32

静止与匀速工况下最大应力

Maximum stress under static and uniform speed conditions/MPa

37.439 839.096 24.24

启动工况下最大应力

Maximum stress under starting conditions/MPa

37.862 139.498 24.14

停车工况下最大应力

Maximum stress under emergency shutdown conditions/MPa

37.599 438.078 91.26
Table 4 Comparisons of calculated values between finite element model and ARSM approximate model
阶次Order

频率

Frequency/Hz

振型

Vibration mode

1st17.353 7结构头部左右弯曲振动 Left and right bending vibration in the head of structure
2nd23.820 1结构头部上下弯曲振动 Up and down bending vibration in the head of structure
3rd24.401 4结构尾部上方左右弯曲振动 Left and right bending vibration above the tail of structure
4th29.832 6结构头部上下弯曲振动 Up and down bending vibration in the head of structure
5th56.506 5

结构头部与尾部上方左右扭转振动，其中头部右侧较低

Left and right torsion vibration above the head and tail of structure, and the right side of the head is low

6th65.597 6

结构头部与尾部上方左右扭转振动，其中头部左侧较低

Left and right torsion vibration above the head and tail of structure, and the left side of the head is low

7th74.764 0结构中部上方上下弯曲振动 Up and down bending vibration above the middle of structure
8th117.919 5结构尾部上方上下弯曲振动 Up and down bending vibration above the tail of structure
9th118.930 9

结构头部左右弯曲振动，结构中部上下弯曲振动

Left and right bending vibration in the head of structure, up and down bending vibration in the middle of structure

10th126.740 5

结构中部两侧上方局部张力振动

Local tension vibration above two sides in the middle of structure
Table 5 Modal analysis results of the optimized main structure of unmanned vehicle platform
Fig. 15 Working diagram of information acquisition platform in field
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