无沟铺管机北斗导航控制系统设计与试验  

Design and test of the BDS navigation system for trenchless pipe laying machines

作　　者：王吉中 赵博[1] 赵士猛 邢高勇 伟利国[1] 胡小安[1] Wang Jizhong;Zhao Bo;Zhao Shimeng;Xing Gaoyong;Wei Liguo;Hu Xiaoan(Chinese Academy of Agricultural Mechanization Sciences,Beijing 100083,China)

机构地区：[1]中国农业机械化科学研究院,北京100083

出　　处：《农业工程学报》2021年第9期47-54,共8页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家重点研发计划课题(2016YFC0501305)。

摘　　要：针对因田间土壤质地不均匀或表面高低不平,无沟铺管机出现行驶偏摆而导致管道铺设弯曲的问题,设计了基于载波相位差分技术的北斗定位系统(Real Time Kinematic-BeiDou Navigation Satellite System,RTK-BDS)的导航控制系统。采用多模态控制策略,通过传感器检测无沟铺管机工作时的左、右行走马达速度,车辆实际平均车速,发动机功率和两侧行走泵的压力等状态参数,并输入到后向反馈(Back Propagation,BP)神经网络,预测铺管机当前状态分类,使用选择器选择模态控制参数,采用自适应比例-积分-微分(Proportion-Integral-Differential,PID)控制算法进行导航控制。经过田间试验,获取铺管机的模态控制参数和BP神经网络训练样本。导航控制系统上线试验结果表明,导航控制横向超调量为4.58 cm,最大横向误差在±4 cm范围内,平均横向误差在±1.5 cm范围内,能够满足铺管机直线性作业要求。In order to solve the problem of pipeline bending caused by slippage of trenchless pipe laying machine,a navigation control system of trenchless pipe laying machine was designed based on Real Time Kinematic-BeiDou Navigation Satellite System(RTK-BDS).According to the idea of multi-mode control algorithm,the multi-mode adaptive PID control algorithm of trenchless pipe laying machine was proposed.The analyses of the kinematic model and slip yaw model of tracked vehicles showed that the turning radius of vehicles will increase when slipping occurs;Through the analysis of the deviation model of vehicles,the calculation models of the heading deviation and lateral deviation of vehicles were given;Based on the analysis of the structure and related structural equations of the hydraulic motor of vehicles,the control transmission function of the hydraulic motor of trenchless pipe laying machine was obtained.The navigation control system of trenchless pipe laying machine mainly consists of BP(Back Propagation)neural network classifier,modal selector,knowledge base,adaptive comparator and walking controller.BP neural network classifier uses sensors to detect the running speeds of the left and right tracks,the actual average vehicle speed,the engine power and the oil pump pressure of the hydraulic motors on both sides of the trenchless pipe laying machine,so as to obtain the running state of the relevant modes of the vehicle,and input the sampled data to the computer.According to the model trained by BP neural network,the current state classification of vehicles is predicted.The modal selector can obtain the relevant parameters of the current vehicle state from the knowledge base through the classification results of BP neural network,and send them to the adaptive comparator and walking controller.The knowledge base contains the adaptive functions of the vehicle control system and the control parameters of positions.The adaptive comparator can calculate the weights of the two errors according to the current heading error and

关 键 词：导航 控制系统 BP神经网络 多模态控制 自适应PID控制 无沟铺管机 

分 类 号：S24[农业科学—农业电气化与自动化]