联合收割机最短路径设计—基于禁忌搜索和PID算法的  

The Shortest Path Design of Combine Harvester—Based on Tabu Search and PID Algorithm

作　　者：张晓云[1] 王丽娟[2,3] 熊琼 

机构地区：[1]绵阳职业技术学院,四川绵阳621000 [2]焦作师范高等专科学校计算机与信息工程学院,河南焦作454000 [3]焦作师范高等专科学校计算机应用技术研究所,河南焦作454000 [4]武汉工商学院信息工程学院,武汉430065

出　　处：《农机化研究》2017年第8期53-57,共5页Journal of Agricultural Mechanization Research

基　　金：四川省教育厅科技项目(13ZB0388);河南省高等学校青年骨干教师项目(2012GGJS-288);武汉工商学院科学研究项目(A2016010)

摘　　要：为了提高联合收割机的收割效率和自动化作业能力,使其在复杂地块具有智能路径规划功能,提高收割机作业的自适应能力,提出了一种基于禁忌搜索的智能联合收割机自动路径规划优化方案,并采用PID反馈调节控制算法,来降低算法的误差;建立了联合收割机智能搜索的禁忌算法模型,并设计了积分、微分和比例调节的PID控制模型;最后利用实地和软件测试的方法对算法的可行性和可靠性进行了测试。结果表明:利用禁忌搜索的PID控制算法可以有效地缩短路径规划时间,提高算法的精度,从而验证了算法在收割机智能控制上应用的可行性。In order to improve the intelligent path planning efficiency and automation of the production capacity in the combine harvester in complex plots, improve the adaptive capacity of the harvester, it proposed a tabu search of intelli- gent combine automatic path planning based on optimization scheme. By using PID feedback control algorithm, it can re- duce the computational error. It established the combine intelligent search of tabu algorithm model, and it tested the de- sign of the integral and derivative and proportional adjustment of PID control model and the field and software testing method of the algorithm feasibility and reliability. Test results show that the PID control algorithm can effectively shorten the path planning and improve the accuracy of the algorithm, which proves the feasibility of the algorithm in the intelli- gent control of the harvester.

关 键 词：联合收割机 路径规划 自适应 禁忌搜索 PID算法 

分 类 号：S225.3[农业科学—农业机械化工程] TP393[农业科学—农业工程]