收获机与运粮车纵向相对位置位速耦合协同控制方法与试验  

Position-velocity coupling control method and experiments for longitudinal relative position of harvester and grain truck

作　　者：张闻宇 张智刚[1] 罗锡文[1] 何杰[1] 胡炼[1] 岳斌斌 Zhang Wenyu;Zhang Zhigang;Luo Xiwen;He Jie;Hu Lian;Yue Binbin(Key Laboratory of Key Technology on Agricultural Machine and Equipment,Ministry of Education,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

出　　处：《农业工程学报》2021年第9期1-11,共11页Transactions of the Chinese Society of Agricultural Engineering

基　　金：十三五国家重点研发计划项目(2017YFD0700404);广东省重点领域研发计划项目(2019B020224001);广东省基础与应用基础研究基金项目(2019A1515111152)。

摘　　要：针对主从导航收获协同卸粮作业过程中作业车辆纵向相对位置控制需求以及拖车驱动系统非线性度较高的问题,该研究设计了一种适用于主从导航协同收获卸粮作业的纵向相对位置协同控制方法。根据协同系统几何关系获得纵向相对位置偏差的平行协同模型,基于动力学原理和位速耦合控制方法设计了纵向相对位置控制器;通过面积辨识方法获取车速系统传递函数,基于传递函数构建仿真模型进行控制器参数全因子仿真优化试验,并与传统PD方法进行仿真对比试验,结果表明该研究方法的最优参数适应性优于传统PD。不同初始偏差的纵向协同田间空载试验结果表明,在主机速度为1 m/s时,3、7和10 m初始纵向偏差下,系统响应平均调节时间分别为7.73、17.2和23.2 s,9组试验的平均稳态绝对偏差为0.0918 m,平均相对速度稳态误差为0.0123 m/s,表明该方法具有较好的初始偏差适应性;田间协同收获作业表明,在主机速度为1 m/s时,平均稳态纵向相对位置偏差绝对值为0.0778 m,标准差为0.0913 m,协同精度能够满足收获协同卸粮的作业要求。研究结果可为自主收获作业系统研究提供支持。Intelligent robot system has become an essential development direction for managing a farm in the whole-process,all-day,and unmanned environment in smart agriculture.Therefore,it is necessary to cooperate with the harvester and grain truck to realize the autonomous operation in the harvest link.In this study,a longitudinal relative position cooperative control system was designed in the process of master-slave navigation harvesting and co-unloading grain,suitable for the trailer drive system with high nonlinearity.A parallel cooperative model of two machines was established to calculate the deviation of longitudinal relative position,where the relative position of harvester and grain truck was geometrically represented.A linear tracking was also utilized to control the transverse distance deviation,due to the fact that the harvester and grain truck separately planned the operation path.In longitudinal distance error,the throttle of the grain truck was used to adjust the longitudinal relative distance and further control the forward speed.A position-velocity coupling controller was designed to calculate the desired throttle,including a speed feedback Proportional Derivative(PD)controller and a position-velocity integrated decision bang-bang controller.The switch function of the bang-bang controller was derived from the dynamic features with good robustness.An open-loop second-order transfer function of throttle speed was generated from area identification to optimize the parameters of the controller.A simulated model of longitudinal relative position control was constructed to optimize the parameters of position-velocity coupling controller,according to the transfer function.A field experiment was conducted to verify the reliability of the model.Additionally,a comparison was also performed on the designed control system and traditional PD control.The simulation results showed that the designed control was fully adapted to the change of host speeds in practical operation,indicating better adaptability than the trad

关 键 词：农业机械 导航 控制 无人农场 协同作业 协同控制 位速耦合 

分 类 号：S147.2[农业科学—肥料学]