基于超声波传感器的喷杆位姿控制系统  

Spray Boom Position Control System Based on Ultrasonic Sensors

作　　者：陈文坊[1] 邱白晶[1] 杨宁[1] 殷磊[1] 

机构地区：[1]江苏大学现代农业装备与技术省部共建教育部重点实验室,江苏镇江212013

出　　处：《农机化研究》2013年第3期84-87,共4页Journal of Agricultural Mechanization Research

基　　金：国家高技术研究发展计划项目(2008AA100905);江苏省农机三项工程项目(NJ2010-15;NJ2010-12);江苏高校优势学科建设工程资助项目(苏财教﹝2011﹞8号);江苏省农业装备与智能化高技术研究重点实验室资助项目(BM2009703)

摘　　要：对喷杆位姿进行控制是提高喷杆喷雾机喷施质量的有效途径,为了使喷杆喷雾机在田间作业过程中喷杆与作物冠层保持正确的位姿,设计了一种以AT89S52微处理器为核心的喷杆位姿控制器,采用两个HT-BEF2503超声波传感器检测喷杆两端与作物冠层之间的高度差来获得喷杆相对于作物冠层的倾斜角度,通过控制角度调整液压缸的流量和方向来实现喷杆位姿的控制。同时,对喷杆喷雾机的总体结构以及液压系统原理进行了分析,阐述了超声波传感器检测喷杆位姿的原理,给出了位姿控制系统的硬件结构和软件的实现流程图,并对控制算法进行了设计。在喷杆喷雾机上应用该控制系统,可以很好地实现喷杆位姿的实时控制。One of the most important methods to reduce the unevenness in spray deposit is control spray boom position. In order to keep spray boom in a suitable position, the authers designed a spray boom position control system with MC- SAT89S52. The height between spray boom top and cropcanopies was measured using two HT-BEF2503 ultrasonic sen- sors. The difference in height of two spray boom tops is used to calculate the angle of spray boom inclination which is nee- ded for control purposes. The general structure and hydraulic system of spray boom were thoroughly analyzed and than a method of boom position measurement was introduced. Finally, the hardware and software of the control system were de- scribed. This control system can keep the spray boom at an ideal location.

关 键 词：喷杆位姿 喷杆喷雾机 位姿控制器 超声波传感器 

分 类 号：S493.1[农业科学—植物保护]