河蟹养殖自动作业船导航控制系统设计与测试  

Design and experiment of navigation control system of automatic operation boat in river crab culture

作　　者：赵德安[1,2] 罗吉[1] 孙月平[1,2] 洪剑青[1] 张军[1] 

机构地区：[1]江苏大学电气信息工程学院,镇江212013 [2]机械工业设施农业测控技术与装备重点实验室,镇江212013

出　　处：《农业工程学报》2016年第11期181-188,共8页Transactions of the Chinese Society of Agricultural Engineering

基　　金：江苏省科技支撑计划(农业)项目(BE2013402);镇江市重点研发计划(现代农业)项目(NY2015022);江苏高校(农业工程)优势学科建设工程项目(PAPD)

摘　　要：针对河蟹养殖过程中存在的水草清理难度大、喂料投饵不均匀、人力成本高等问题,该文设计了一种基于ARM(advanced RISC machine)和GPS/INS(global positioning system/inertial navigation system)组合导航的多功能全自动河蟹养殖作业船导航控制系统。该系统由明轮驱动船、ARM主控制器、GPS/INS组合导航装置等组成。为降低传统的基于有限目标点航道位置计算方法的复杂度并减小船体偏离航道的误差,该文提出了一种基于实时插点的航道位置计算方法,实时地解算出当前时刻的目标位置,并设计了相应的转弯及航道切换策略。针对明轮船具有非线性、大时滞、欠阻尼的运动特点,设计了基于模糊PID(proportion integration differentiation)的航向、航速双闭环运动控制算法;基于嵌入式Linux操作系统,设计了船载子系统软件,并编写了上位机监控程序对船载子系统的运行状态进行实时监控。利用河蟹养殖作业船试验平台进行了航速及自动导航试验,并对有限目标点和实时插点的航道位置计算方法的控制效果进行了对比。试验结果表明:船体速度响应较快,超调量不超过5%,稳态误差可控制在3%以内;采用有限点的航道位置计算方法时,船体在转弯与直行时偏离航道的最大误差分别为2.12和1.52m;采用实时插点的航道位置计算方法时,船体在转弯与直行时偏离航道的最大误差分别为0.36和0.09m,分别下降了83.02%和94.08%,船体的控制精度得到了全面的改善。该文可以为多功能河蟹养殖作业船的研究提供重要参考。In China, the current river crab culture mainly depends on human labor, which brings some problems such as aquatic plant cleaning difficulty, nonuniform feeding and high labor cost. In order to solve the problems above, this paper proposed a multi-functional automatic river crab culture operation boat based on ARM（advanced RISC machine） and GPS/INS（global positioning system/inertial navigation system） integrated navigation. The system was mainly composed of ARM controller, GPS/INS integrated navigation devices, GPRS（general packet radio service） communication device, aquatic plant cleaning device, automatic feeding device and paddle wheel driving device. In automatic navigation mode, the ARM controller firstly received and processed the navigation data including position, course and speed from the GPS/INS devices. PWM（pulse width modulation） module and GPIO（general purpose input output） module were called to control the boat sailing, aquatic plant cleaning and automatic feeding simultaneously. The host computer communicated with the ARM controller via GPRS device to monitor the real-time operating status of the ship borne subsystem remotely. In order to simplify the complexity of the traditional calculation method of channel position based on finite target points and reduce channel deviation error of the boat, this paper proposed a new calculation method based on real-time inserting points. This method calculated the current target position of the boat real-timely according to the position of the boat and the turning points of current channel. A new turning and channel switching strategy was also presented in this paper to improve the boat work efficiency and prevent the boat from deviating from the channel because of the high speed. Considering the movement characteristics such as non-linearity, big delay and underdamping of the boat, the course-speed dual-loop control algorithm was designed based on fuzzy PID（proportion integration differentiation）. In order to enhance the stability and

关 键 词：养殖 导航 控制 河蟹养殖 组合导航 LINUX 模糊PID 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] S126[自动化与计算机技术—控制科学与工程]