牵引式农机—机具二维三自由度运动学模型研究  

Research on 3-DOF kinematic model of 2-D trailed agricultural machinery-machine

作　　者：郝思佳 李丽霞[1] 付卫强[2] 张兆国[1] Hao Sijia;Li Lixia;Fu Weiqiang;Zhang Zhaoguo(Faculty of Agriculture and Food,Kunming University of Science and Technology,Kunming,650500,China;Beijing Research Center frr Information Technology in Agriculture,Beijing,100097,China)

机构地区：[1]昆明理工大学农业与食品学院,昆明市650500 [2]北京农业智能装备技术研究中心,北京市100097

出　　处：《中国农机化学报》2020年第10期111-117,共7页Journal of Chinese Agricultural Mechanization

基　　金：国家重点研发计划课题(2017YFD0700402);北京市工程实验室建设项目(PT2020—22)。

摘　　要：为解决农机作业过程中牵引式农机机具曲线运动轨迹不一致问题,通过研究牵引类农机—机具曲线运动规律,建立农机—机具二维三自由度运动学模型,实现农机与机具作业点轨迹推算,以达到不改变农机自动导航系统硬件的前提下控制机具作业点按照预定轨迹行进的目的。在直线—转弯、顺时针整圆和S型曲线三种运动模式下,模型的轨迹跟踪试验的结果表明:直线—转弯运动模式下,农机模型的平均误差0.54 cm,机具模型的平均误差0.62 cm;顺时针整圆运动模式下,农机模型的平均误差4.87 cm,机具模型的平均误差4.34 cm;S型曲线运动模式下,农机模型的平均误差11.72 cm,机具模型的平均误差15.96 cm。In order to solve the problem of inconsistent curve motion between the power source traction vehicle and the work tool in the process of farming,the curve motion law of the tractor-work tool is studied,and a two-dimensional three-degree-of-freedom kinematic model of the tractor-work tool is established in this paper.It realizes the calculation of trajectory the work point of tractor and the work tool,so as to achieve the purpose of controlling the work point of the machine to travel according to the preset trajectory without changing the hardware of the automatic navigation system.The simulation verifies the trajectory tracking of the model under three motion modes of straight-turn clockwise circle and s-shape curve.The results show that,for the straight-turn motion,the average error of the tractor model is 0.54 cm and the average error of the tool model is 0.62 cm;for the clockwise full circle motion,the average error of the tractor model is 4.87 cm and the average error of the tool model is 4.34 cm;for the S-curve motion,the average error of the tractor was 11.72 cm and the average error of the tool model was 15.96 cm.

关 键 词：运动轨迹 农机—机具 运动学模型 自动导航 

分 类 号：S23[农业科学—农业机械化工程] TP15[农业科学—农业工程]