水田自走式喷雾机喷杆自动调平系统设计与试验  

Design and Experiment of Boom Automatic Leveling Control System for Self-propelled Paddy Sprayer

作　　者：张盟 胡炼[1,2] 可欣荣[1,2] 唐灵茂 蒙世博 杜攀 周浩[1,2] 贺静 Zhang Meng;Hu Lian;Ke Xinrong;Tang Lingmao;Meng Shibo;Du Pan;Zhou Hao(Key Laboratory of Key Technology on Agricultural Machine and Equipment of Ministry of Education,South China Agricultural University,Guangzhou 510642,China;College of Engineering,South China Agricultural University,Guangzhou 510642,China)

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]华南农业大学工程学院,广州510642

出　　处：《农机化研究》2019年第10期45-51,共7页Journal of Agricultural Mechanization Research

基　　金：国家重点研发计划项目(2016YFD0200704;2016YFD0700301);广东省科技计划项目(2015B020206002);青年托举人才项目(2016)

摘　　要：为提高水田自走式喷雾机喷施作业均匀性,设计了喷杆自动调平系统,包括自动调平机械结构、喷雾机车身倾角传感器和控制器,以及车身倾角传感器和控制器的硬件系统和软件系统,并研究了对加速度计和陀螺仪数据进行融合的卡尔曼滤波算法和喷杆自动调平PID控制算法。以井关JKB18C型喷雾机为平台,采用叉车调节喷雾机车身倾斜角度,用2台MTI-300高精度惯性传感器分别测量喷雾机车身和喷杆倾角,并进行了测试试验。结果表明:随着车身倾角变化速率的增加,喷杆倾斜角度的平均绝对误差、均方根误差和最大误差增大,平均绝对误差最大为0. 90°,均方根误差最大为1. 39°,最大误差为1. 70°,车身倾角变化速率对喷杆控制精度影响较大。为检测喷杆自动调平控制系统的田间作业性能,采用双天线RTK-GNSS导航定位系统测量喷雾机作业过程中喷杆水平倾角,并进行了田间试验。试验结果表明:喷杆相对于水平面的平均绝对误差最大为0.79°,均方根误差最大为0. 85°,最大误差为1. 70°,喷杆自动调平控制系统可以有效地控制喷杆的水平姿态。In order to improve the uniformity of spray of the sprayer,the boom is designed with an automatic levelling system,including the automatic leveling machine structure,the spray locomotive body tilt sensor and the controller.The circuit and software structure of the spray body inclination measurement system are determined.The Kalman filtering algorithm,which is used to fuse the accelerometer and gyroscope data,and the PID control algorithm for the automatic leveling of the boom are studied.The JKB18C type sprayer is used as the platform,the tilt angle of the sprayer body is adjusted by forklift truck,two MTI-300 high precision inertial sensors are used to measure the body and boom angle of the sprayer respectively.The experimental results show that the absolute error,the root mean square error and the maximum error of the tilting angle increase with the increase of vehicle body inclination rate.Among them,the maximum mean absolute error is 0.90°,the maximum root mean square error is 1.39°,and the maximum error is 1.70°,so we can draw the conclusion that the change rate of vehicle body inclination has great influence on the control accuracy of boom.In order to detect the performance of the field operation of the automatic leveling control system,a field test scheme was designed,and the horizontal attitude of the sprayer in the operation of the spray machine was detected by using the dual antenna RTK-GNSS navigation board.The experimental results show that the average absolute error of the boom relative to the horizontal plane is 0.79°,the maximum root mean square error is 0.85°,and the maximum error is 1.70°.That is to say,the automatic leveling control system of the boom can effectively control the horizontal posture of the boom.

关 键 词：水田 水稻 喷雾机 调平 

分 类 号：S493.1[农业科学—植物保护]