大型平移式喷灌机分布式级联协同导航控制方法  

Distributed Cascading Cooperative Navigation Control Method of Large-scale Lateral Moving Sprinkler Irrigation Machine

作　　者：孟令刚 范松涛[1,2] 周燕 MENG Linggang;FAN Songtao;ZHOU Yan(Optoelectronic System Laboratory,Institute of Semiconductors,Chinese Academy of Sciences,Beijing 100083,China;College of Materials Science and Opto-Electronics Technology,University of Chinese Academy of Sciences,Beijing 100049,China;School of Electronic,Electrical and Communication Engineering,University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院半导体研究所光电系统实验室,北京100083 [2]中国科学院大学材料科学与光电技术学院,北京100049 [3]中国科学院大学电子电器与通信工程学院,北京100049

出　　处：《农业机械学报》2021年第10期137-145,174,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2017YFD07005043)。

摘　　要：针对大型平移式喷灌机协同导航控制系统中存在的易偏离导航路径、跨间行走协同性差、喷灌均匀性不高等问题,提出了一种分布式级联协同导航控制方法。该方法在建立大型喷灌机多塔车运动学模型的基础上,结合状态反馈和PID控制,设计了主塔车为主机的路径导航控制算法以及子塔车为从机的级联同步跟随控制算法。并设计了基于该方法的协同导航控制系统,通过双天线RTK定位模块获得各塔车的实时姿态,通过变频调速技术实现各塔车运动姿态的控制。完成了变频控制的大型喷灌机设计,在河南省许昌市试验基地进行了协同导航试验。试验结果表明,喷灌机以不同速度协同导航行走时,主塔车最大横向偏差不大于3.26 cm,最大航向偏差不大于1.65°;子塔车最大同步偏差不大于13.07 cm,满足田间自主作业要求。The following problems exist in the cooperative navigation control system of traditional large-scale lateral moving sprinkler irrigation machine,such as easy deviation from the navigation path,poor inter-span walking coordination,and low sprinkler irrigation uniformity.In order to solve the above problems,a distributed cascade cooperative navigation control method was proposed.Based on the establishment of the multi-tower kinematic model of the large-scale sprinkler irrigation machine,combined with the state feedback and PID control,the path navigation control algorithm was designed with the main tower as the master and the cascaded synchronous following control algorithm with the node-tower as the slave.And a collaborative navigation control system was designed and developed based on this method.The real-time attitude of each tower car was obtained through the dual-antenna RTK positioning module,and the control of the movement attitude of each tower car was realized through frequency control technology.Based on the above control methods,a cooperative navigation control system was designed and it was deployed on the developed sprinkler irrigation machine.The navigation control system was installed on the sprinkler irrigation machine,and the sprinkler irrigation machine was modified.A coordinated navigation control test was carried out in Xuchang,Henan.The test results showed that at different navigation speeds,the maximum lateral deviation of the main tower vehicle was within±3.26 cm,and the maximum heading deviation was within±1.65°;the maximum synchronization deviation of the sub-tower vehicle was within±13.07 cm,which met the requirements of autonomous field operations.

关 键 词：喷灌机 平移式 分布式级联 协同导航 RTK 变频调速 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]