农用车辆自主导航控制系统设计与试验  

Design and Experiment of Automatic Guidance Control System in Agricultural Vehicle

作　　者：张美娜[1] 吕晓兰[1] 陶建平[1] 尹文庆[2] 冯学斌[2] 

机构地区：[1]江苏省农业科学院农业设施与装备研究所,南京210014 [2]南京农业大学工学院,南京210031

出　　处：《农业机械学报》2016年第7期42-47,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(31301687);江苏省农业科技自主创新资金项目(CX(15)1023);国家梨产业技术体系机械岗位项目(CARS-29-18)

摘　　要：集成软硬件系统搭建了一套农用车辆自主导航系统并进行了试验研究。硬件系统包括传感器、执行器和CAN-Bus通信网络;软件系统基于Windows操作系统、Visual Studio 2005开发环境,采用多线程编程技术开发。依据运动学规律建立了车辆运动模型,依据转向机构闭环响应曲线辨识了转向系统闭环模型,综合2个模型确立了航向与横向控制系统开环传递函数,基于PID理论设计了航向与横向控制器。试验结果表明:软硬件系统运行稳定;初始航向偏差在-86°与84°时,调节时间均在2 s以内,稳定后航向跟踪的精度均在1°以内;初始横向偏差在0.7 m和1.2 m时,横向偏差的最大值分别为10.4 cm与9.2 cm,横向偏差平均值分别为6.4 cm与3.5 cm,横向偏差标准差分别为2.6 cm与1.7 cm,横向控制器能够使系统平滑稳定地跟踪期望路径,跟踪精度在厘米级。Intelligent agricultural vehicle can significantly improve the production quality and efficiency,reduce environmental pollution,and take advantage of the agricultural resources efficiently. So an automatic guidance control system in agricultural vehicle was implemented by integrating the hardware and software. The hardware included sensors,actuators and CAN-Bus. The software was developed with multithread programming technology in Visual Studio 2005 platform based on Windows operating system.Open-loop transfer function model of the heading control system and the lateral control system were established via the model of the vehicle motion and the steering system. Model of the vehicle motion was established according to the kinematic characteristics,and model of the steering system was identified according to the closed-loop response curve. Then the heading controller and the lateral controller were designed via PID control theory. Tests results showed that the hardware and software system were running stability. With the initial heading deviations of-86° and 84°,the adjusting time were both in 2 s,the turning precisions were both in 1°. With the initial lateral deviations of 0. 7 m and 1. 2 m,the maximum values of the lateral deviation were 10. 4 cm and 9. 2 cm respectively,the mean values of the lateral deviation were 6. 4 cm and 3. 5 cm respectively,and the standard deviations of the lateral deviation were2. 6 cm and 1. 7 cm,respectively. So the proposed automatic guidance control system can make the vehicle track the desired path smoothly and steadily with a centimetre-level tracking precision.

关 键 词：农用车辆 自主导航 控制模型 PID控制 

分 类 号：TP274.2[自动化与计算机技术—检测技术与自动化装置] S219.1[自动化与计算机技术—控制科学与工程]