基于CAN总线的分布式插秧机导航控制系统设计  

Design of distributed navigation control system for rice transplanters based on controller area network

作　　者：胡炼[1,2] 罗锡文[1,2] 张智刚[1,2] 赵祚喜[1,2] 

机构地区：[1]华南农业大学南方农业机械与装备关键技术省部共建教育部重点实验室,广州510642 [2]华南农业大学工程学院,广州510642

出　　处：《农业工程学报》2009年第12期88-92,共5页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家"863"高技术研究发展计划资助项目(2006AA10A304);国家"863"高技术研究发展计划资助项目(2006AA10Z255);广东省科技计划项目(2007A020300010-5);广东省自然科学基金项目(07301499)

摘　　要：为了提高插秧机自动导航系统的可靠性,设计了一种基于CAN总线的分布式控制系统。系统由1个主控节点和3个从节点组成。主控节点采用AT91SAM9261 ARM处理器,负责根据RTK GPS数据和电子罗盘数据决策适当的控制指令;3个从节点选用C8051F040单片机,分别实现转向控制、变速控制以及插秧机具升降控制;并根据CAN2.0总线协议,制定了插秧机自动导航系统主从节点数据传输通信协议。控制系统在久保田SPU-68型插秧机上进行了道路跟踪试验和田间作业试验,结果表明,采用基于CAN总线的嵌入式分布式导航控制系统保证了数据实时传输,插秧机能够自主完成路径跟踪、转向、变速以及插秧等操作。其中道路直线跟踪误差小于0.05 m,田间作业试验直线跟踪误差不大于0.2m,插秧行距为30cm,能基本满足水田插秧作业要求。A CAN-based distributed control system was developed to improve the reliability of automatic guidance for rice transplanter.This system included a master node and three slave nodes.The master node,which used AT91SAM9261 embedded CPU,utilized RTK GPS data and compass data to generate appropriate control commands.By adopting C8051F040 as the key control chip,three slave nodes realized steering control,speed control and transplanting instrument lever control, respectively.A communication protocol was presented for the distributed control network.Road tracking test and paddy field test were carried out based on SPU-68 rice transplanter.Testing results demonstrated that the system was able to transfer and receive real-time messages reliably.And the transplanter could complete all the field operations,such as tracking trajectory, automatic steering,speed changing and transplanting,etc.Road and paddy field testing results also showed that the line trajectory track errors were less than 0.05 m and 0.2 m,respectively,which basically met the requirements of rice transplanting.

关 键 词：自动导航 控制 通信系统 插秧机 CAN总线 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TP29[自动化与计算机技术—控制科学与工程]