联合收获机单神经元PID导航控制器设计与试验  

Design and experiment of the single-neuron PID navigation controller for a combine harvester

作　　者：丁幼春[1,2] 夏中州 彭靖叶 胡子谦 Ding Youchun;Xia Zhongzhou;Peng Jingye;Hu Ziqian(College of Engineering,Huazhong Agricultural University,Wuhan 430070,China;Key Laboratory of Agricultural Equipment in Mid-lower Yangtze River,Ministry of Agriculture and Rural Affairs,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》2020年第7期34-42,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)。

摘　　要：针对联合收获机在田间直线跟踪作业中在维持高割幅率条件下易产生漏割的问题,设计了一种基于单神经元PID(Proportion Integration Differentiation)的联合收获机导航控制器。以轮式联合收获机为平台,通过对原有液压转向机构进行电控液压改装,搭载相关传感器构建了导航硬件系统。开展了常规PID控制和单神经元PID控制的仿真以及实地对比试验,仿真结果表明单神经元PID控制具有超调小和进入稳态快等特点;路面试验表明,当收获机速度为0.7 m/s时,单神经元PID控制最大跟踪偏差为6.10 cm,平均绝对偏差为1.21 cm;田间试验表明,收获机速度为0.7 m/s时,单神经元PID控制田间收获最大跟踪偏差为8.14 cm,平均绝对偏差为3.20 cm。试验表明所设计的联合收获机导航控制器能够满足自动导航收获作业要求,为收获作业自动导航提供了技术参考。Improving the intelligence level of combined harvesting machinery can improve harvest efficiency,harvest quality,extend operation time,reduce labor cost and labor intensity.In this study,combined harvester automatic navigation software and hardware system was designed to improve the intelligence of the combined harvester,and a navigation controller of combine harvester based on single-neuron PID was designed for the problem of no leakage of straight-line tracking operation in the field environment of combine harvester under the condition of maintaining high cutting width rate.This study used the combine harvester as the research object,and its steering system was modified by electronic hydraulic.The combined harvester navigation hardware system consisted of RTK positioning module,angle sensor,electric hydraulic steering mechanism,computer,navigation and control box(data acquisition card,proportional amplifier,power supply).Navigation software developed based on Windows 10 operating system.The control terminal realized the reception of high-precision BeiDou positioning data,coordinate transformation,heading deviation and distance deviation calculation,navigation control decision,steering angle monitoring and send control commands.The entire navigation system workflow was that the control terminal first collects target path information to determine the target tracking path,converted the current position information of the harvester to Gaussian projection into plane coordinates and calculated the lateral deviation and heading angle in real-time.The obtained deviation information was filtering processed for deviation construction strategy decision and the obtained deviation amount was used as the input of a single-neuron PID controller.The single-neuron PID controller calculated the output target steering angle and sent a control command to steering PD controller,then steering controller calculated and output analog to control the opening of the electro-hydraulic proportional valve and the direction of working fluid

关 键 词：收获机 设计 控制 导航控制器 单神经元PID 割幅率 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]