葡萄园拖拉机自动导航系统设计与试验  

Design and experiment of vineyard tractor automatic navigation system

作　　者：杨舜禾 杨术明[1] 李茂强 王乾 YANG Shun-he;YANG Shu-ming;LI Mao-qiang;WANG Qian(College of Mechanical Engineering,Ningxia University,Yinchuan 750021,China;College of Mechanical and Electrical Engineering,North Minzu University,Yinchuan 750021,China)

机构地区：[1]宁夏大学机械工程学院,宁夏银川750021 [2]北方民族大学机电工程学院,宁夏银川750021

出　　处：《甘肃农业大学学报》2020年第3期198-205,共8页Journal of Gansu Agricultural University

基　　金：宁夏酿酒葡萄智能化农机装备研发与应用项目(2018BBF02020)。

摘　　要：【目的】为了实现拖拉机在葡萄园内的自动导航控制.【方法】设计开发了一套导航控制系统,该系统采用变论域模糊法作为导航控制决策,系统通过输入横向偏差和航向偏差的变量,改变模糊控制论域,提升系统的自适应能力,使得系统响应速度更快精度更高,提高拖拉机在葡萄园复杂的环境导航效果.【结果】试验结果表明:当拖拉机以0.25 m/s和0.35m/s的作业速度行驶时,导航的平均横向偏差分别为2.46、2.77 cm,最大偏差分别为5.36、14.68 cm,均方差分别2.92、4.79 cm.【结论】设计的导航控制系统基本满足拖拉机在葡萄园内导航作业需求.【Objective】In order to achieve the automatic navigation control of tractor working in vineyard.【Method】A navigation control system was designed and developed.The variable domain fuzzy method was used in this system as the navigation control decision.And was improved the fuzzy control domain was changed by inputting the variables of lateral deviation and heading deviation in order to improve the self-adaptive ability,responsive ability and accuracy of the system working in the complex environment of vineyard.【Result】The test results showed that when the forward speed of tractor was 0.25 m/s and 0.35 m/s,the average lateral deviation of navigation was 2.46 and 2.77 cm respectively.The maximum deviations were 5.36 and 14.68 cm respectively,and the mean square errors were 3.04 and 3.28 cm respectively.【Conclusion】The designed navigation control system basically meets the navigation operation requirements of tractor working in vineyard.

关 键 词：葡萄园 导航控制 变论域模糊 系统软件 

分 类 号：S220.39[农业科学—农业机械化工程]