基于嵌入式控制的农机自动驾驶系统布局研究  

Research on Agricultural Machine Autopilot System Layout Based on Embedded Control

作　　者：彭开勤[1] Peng Kaiqin(Wuhan Railway Vocational and Technical College, Wuhan 430205, China)

机构地区：[1]武汉铁路职业技术学院,武汉430205

出　　处：《农机化研究》2022年第4期265-268,共4页Journal of Agricultural Mechanization Research

基　　金：国家一般课题(BJA070037);湖北省教育科学“十二五”规划课题(2014B422);湖北省教育厅自然科学类重点科研项目(D20106302)。

摘　　要：以农用耕地机为研究对象,设计一款基于嵌入式的自动驾驶控制系统。其控制原理是利用预瞄跟随算法对耕地机进行横向控制,使其根据方向盘的转角调整耕地机转弯半径;利用PID算法对耕地机进行纵向控制,使其根据油门脚踏的开合度、制动脚踏的开合度及挡位状态调整耕地机的行驶速度,从而使耕地机按最佳的运行轨迹行驶。系统以单片机最小系统为处理核心,利用周围的传感器设备和GPS接收设备等将耕地机的位置、速度信息通过解码器和串口通信的方式发送给单片机,进行逻辑运算后通过CAN接口将结果发送给方向盘、油门、制动及挡位驱动电机,从而控制耕地机的运行。仿真实验表明:系统能够减小耕地机行驶过程中的横向误差,可根据土地实况自动调整行驶速度,实现了耕地机的自动驾驶。This article takes agricultural cultivator as the research object,and designs an embedded automatic driving control system.The control principle is to use the preview and follow algorithm to control the cultivator horizontally,so that it can adjust the turning radius of the cultivator according to the steering wheel angle;use the PID algorithm to control the cultivator longitudinally,so that it can be braked according to the opening and closing degree of the accelerator pedal The opening and closing degree of the pedals and the gear status adjust the driving speed of the cultivator,so that the cultivator can drive according to the best running track.The hardware structure of the system is mainly based on the smallest single-chip microcomputer system as the processing core.It uses the surrounding sensor equipment and GPS receiving equipment to send the position and speed information of the cultivator to the single-chip microcomputer through the decoder and serial communication.After logical operation,The CAN interface sends the results to the steering wheel,throttle,brake and gear drive motors to control the operation of the cultivator.Finally,software simulation experiments verify that the system can reduce the lateral error of the cultivator during the driving process,and can automatically adjust the driving speed according to the actual situation of the land to realize the automatic driving of the cultivator.

关 键 词：耕地机 自动驾驶 嵌入式 预瞄跟踪 PID 

分 类 号：S222.3[农业科学—农业机械化工程] S126[农业科学—农业工程]