基于DSP的水田平地机倾角传感系统设计与试验  

Design and Experiment of Roll Angle Sensing System Based on DSP for Paddy Field Leveler

作　　者：杨伟伟[1] 胡炼[1,2] 周浩[1] 赵润茂 许奕[1] 林潮兴[1] 

机构地区：[1]华南农业大学南方农业机械与装备关键技术教育部重点实验室,广州510642 [2]南方粮油作物协同创新中心,长沙410128

出　　处：《沈阳农业大学学报》2016年第3期314-319,共6页Journal of Shenyang Agricultural University

基　　金：广东省自然科学基金项目(2015A030310292);"十二五"农村领域国家科技计划项目(2014BAD06B01)

摘　　要：平地机车身倾角是水田平地机平地铲自动调平控制的重要反馈信息。为满足平地铲自动调平的倾角测量精度要求,达到水田精准平整、减少水资源的浪费、提高水稻产量的目的,设计了一种基于DSP的水田平地机倾角传感系统。采用惯性加速度计和陀螺仪作为倾角传感系统的倾角测量传感器,分析了倾角传感系统倾角测量原理、设计了硬件系统和基于卡尔曼滤波器的传感器融合算法。倾角传感系统综合利用加速度计所测的重力加速度分量和重力加速度的三角关系以及陀螺仪所测的角速度和车身倾角的导数关系测量获得平地机车身倾角;采用三轴加速计ADIS16300、陀螺仪ADXRS453和DSP处理器TMS320F28069等器件组成倾角传感系统的硬件系统,其中DSP处理器主要实现传感器数据采集、算法执行和数据通讯等功能;以平地机真实倾角和陀螺仪零位偏差作为系统状态向量,建立系统状态方程和测量方程,通过离散化卡尔曼滤波器递归融合得到平地机车身实时倾角。通过三轴多功能转台对倾角传感系统的卡尔曼滤波融合算法测量精度进行了试验。试验结果表明:该倾角传感系统在静态和动态时均能准确地测量平地机车身实时倾角。静态测量时车身角度平均绝对误差≤0.01°,均方根误差≤0.01°,最大误差0.07°。动态测量时车身角度平均绝对误差≤0.18°,均方根误差≤0.20°,最大误差0.41°。说明该系统为水田平地机平地铲自动调平控制提供了低成本倾角测量方案。The roll angle of paddy field leveler is an important feedback for the automatic leveling control of leveling machine in paddy field. In order to accurately measure the roll angle of paddy field leveler, achieve paddy fields precise leveling, reduce the waste of water resources, enhance the yield of rice, a roll angle sensing system（RASS） based on DSP for paddy field leveler was designed. Inertia accelerometer and gyroscope as RASS sensor for measuring the angle was used, the measuring principle of RASS was analyzed, and the hardware system and Kalman filtering algorithm was designed. The RASS synthetically used accelerometer of measuring acceleration of gravity and acceleration of gravity by triangle as well as gyroscope of measuring angular velocity of the rolling of paddy field leveler and the derivative of the roll angle of paddy field leveler to measure the roll angle of paddy field leveler. The hardware system of RASS was made up of triaxial accelerometer ADIS16300, gyroscope ADXRS453 and DSP processor TMS320F28069, etc, among them the DSP processor mainly implemented sensor data acquisition,algorithm implementation and data communication, etc. With the true roll angle of paddy field leveler and gyroscope zero deviation as the state vector system, the system state equation and measurement equation was established, and the real-time roll angle of paddy field leveler was obtained through the discrete Kalman filtering recursive fusion. In addition, the measurement accuracy of the RASS was tested on the triaxial multi-function turntable. The results showed that the RASS could accurately measure the real-time roll angle of paddy field leveler under the condition of static and dynamic test. Under static test conditions, the mean absolute error, root mean square error and maximum error were less than or equal to 0.01°, 0.01°and 0.07°,respectively. Under dynamic testing conditions, the mean absolute error, root mean square error and maximum error were lessthan or equal to 0.18°, 0.20° and 0.41°, respectiv

关 键 词：倾角 DSP 卡尔曼滤波器 三轴多功能转台 

分 类 号：S152.9[农业科学—土壤学]