基于控制器的农用无人机导航自动控制系统研究  

Research on Automatic Navigation Control System of Agricultural UAV Based on Controller

作　　者：魏宏飞[1] Wei Hongfei(Henan Polytechnic Institute,Nanyang 473000,China)

机构地区：[1]河南工业职业技术学院,河南南阳473000

出　　处：《农机化研究》2022年第1期218-222,共5页Journal of Agricultural Mechanization Research

基　　金：河南省高等教育教学改革研究与实践项目(2019SJGLX69,2019SJGLX630)。

摘　　要：农用无人机在自主作业时,导航精度对作业性能的影响较大,如果导航精度不高,农机在行驶过程中会产生横向误差和纵向误差,从而降低农机的作业质量。为了提高农用无人机导航的精度,采用滑模控制方法建立了导航线追踪和主从系统车速协同的控制模型,并通过虚拟仿真验证了控制器的控制效果。仿真结果表明:采用滑模控制方法可以有效降低导航的误差,使无人农机在作业时沿着导航线行驶,质心偏差较小,单独采用滑模控制方法时,误差会存在一定的波动造成系统的不稳定性。引入PID反馈调节控制算法对系统进一步验证表明,PID算法可以有效消除系统误差的波动性,提高系统的稳定性,进而提高农机的作业质量。When agricultural UAV operates autonomously,the navigation accuracy has a great influence on the operation performance.If the navigation accuracy is not high,the agricultural machinery will produce horizontal and vertical errors in the process of driving,thus reducing the operation quality of agricultural machinery.In order to improve the navigation accuracy of the UAV,the sliding mode control method is adopted to improve the navigation accuracy of the UAV When the sliding mode control method is used alone,the error will fluctuate and cause the system instability.The system is further verified by introducing PID feedback control algorithm,which shows that PID algorithm can effectively eliminate the fluctuation of system error,improve the stability of the system,and then improve the operation quality of agricultural machinery.

关 键 词：无人机导航 自动控制器 PLC控制 PID反馈 稳定性 

分 类 号：S251[农业科学—农业机械化工程] TP273[农业科学—农业工程]