小型履带式油菜播种机导航免疫PID控制器设计  

Design of navigation immune controller of small crawler-type rape seeder

作　　者：丁幼春[1,2] 何志博 夏中州 彭靖叶 吴太晖 Ding Youchun;He Zhibo;Xia Zhongzhou;Peng Jingye;Wu Taihui(College of Engineering,Huazhong Agricultural University,Wuhan 430070,China;Key Laboratory of Agricultural Equipment inMid-lower Yangtze River,Ministry of Agriculture and Rural areas,Wuhan 430070,China)

机构地区：[1]华中农业大学工学院,武汉430070 [2]农业农村部长江中下游农业装备重点实验室,武汉430070

出　　处：《农业工程学报》2019年第7期12-20,共9页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家重点研发计划项目(2017YFD0700400;2017YFD0700405);湖北省技术创新专项重大项目(2016ABA094)

摘　　要：针对适应于长江中下游地区稻茬田土壤黏湿、小田块的轻简化播种机智能化问题,设计了一种基于免疫PID的小型履带式油菜播种机导航控制器。以小型履带式油菜播种机为基础,利用电磁铁对其转向系统进行电控改装,采用高精度北斗定位模块和电子罗盘进行组合导航,获取履带式播种机的位置和航向信息作为导航控制器的输入,设计了小型履带式油菜播种机自动导航控制系统。建立了履带式油菜播种机运动学模型和转向角传递函数,利用Matlab仿真和实地导航试验对常规PID控制和免疫PID控制进行了对比试验。仿真表明:在相同参数条件下,与常规PID相比,免疫PID控制具有响应快、超调量小、平均跟踪误差小等特点;路面试验表明:当播种机速度为0.50m/s时,免疫PID控制器直线跟踪的平均绝对偏差为4.2 cm,最大跟踪偏差为11.9 cm。田间试验表明:当播种机速度为0.50 m/s时,免疫PID控制器直线跟踪平均绝对偏差为5.8 cm,最大偏差不超过15.2 cm,能够较好地满足播种机导航作业要求,该研究可为履带式播种机的自主导航提供了技术参考。The middle and lower reaches of the Yangtze River are the main producing areas of winter rapeseed in China.However,due to the effects of harvesting agricultural crops,heavy soil compaction,small field,the mechanization level of rapeseed is low.The level of intelligent seeding needs to be improved.In this paper,a navigation controller for small crawler-type seeder based on immune PID was designed to solve the problem of intelligent seeding in the middle and lower reaches of the Yangtze River where the soil is sticky,the field is small.The small crawler-type rape seeder automatic navigation control system was designed.It used the small crawler-type rape seeder as the platform,and its steering system was modified by electromagnet.The high-precision BeiDou positioning module and the electronic compass was used for combined navigation to obtain the position and heading information of the crawler-type rape seeder as the input of the navigation controller.The immune PID controller was a nonlinear P controller that could adjust the proportional coefficient according to the feedback in real time.The control process was as follows.First,the plane coordinates of the start and end points of the straight path to be tracked were artificially set,and the main controller automatically calculated the distance of the target heading the start point and the end point.The weighted average algorithm was used to filter the longitude and latitude coordinates collected four times to get the current position.The controller calculated the distance deviation from the current position to the set route by the point-to-line distance formula.Taking the filtered distance deviation as an input,the target heading was calculated using the target heading correction formula distance deviation.Then,the course deviation(the deviation between the corrected target heading and the heading acquired by the electronic compass in real time)was used as an input of the immune PID controller,and the immune PID controller determined the Duty Ratio as the output u

关 键 词：机械化 设计 控制 履带式播种机 免疫PID 导航控制器 传递函数 自主导航 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]