履带式油菜播种机模糊自适应纯追踪控制器设计与试验  

Design and Experiment of Fuzzy Adaptive Pure Pursuit Control of Crawler-type Rape Seeder

作　　者：张朝宇 董万静 熊子庆 胡子谦 王登辉 丁幼春[1,2] ZHANG Chaoyu;DONG Wanjing;XIONG Ziqing;HU Ziqian;WANG Denghui;DING Youchun(College of Engineering,Huazhong Agricultural University,Wuhan 430070,China;Key Laboratory of Agricultural Equipment in Mid-lower Yangtze River,Ministry of Agriculture and Rural Affairs,Wuhan 430070,China)

机构地区：[1]华中农业大学工学院,武汉430070 [2]农业农村部长江中下游农业装备重点实验室,武汉430070

出　　处：《农业机械学报》2021年第12期105-114,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2016YFD0200600、2016YFD0200606);湖北省重点研发计划项目(2020BAB097)。

摘　　要：针对在丘陵山区小田块中大型农业机械运移不便、作业效率不高和田头调头操作受限等问题,设计了一种针对轻简履带式车辆的基于运动学模型和几何模型的模糊自适应纯追踪控制器。以轻简履带式油菜播种机为研究平台,结合北斗RTK构建了一套自动导航作业系统,根据播种作业需求采用有限状态机设计了田间自动导航作业控制策略。开展了模糊自适应纯追踪控制器与纯追踪控制器的仿真及实地对比试验。仿真结果表明,与纯追踪控制器相比,模糊自适应纯追踪导航控制器具有上升时间短和超调小等特点。水泥路面试验表明,当行驶速度为0.8 m/s时,模糊自适应纯追踪控制器最大跟踪偏差为0.039 m,平均绝对偏差为0.018 m。在旱田路面前进速度0.5、0.8、1.2 m/s下,直线导航跟踪最大跟踪偏差分别不大于0.082、0.086、0.092 m,平均绝对偏差分别不大于0.031、0.032、0.034 m。并对自动导航作业系统进行试验,试验结果表明,所设计的导航控制器直线跟踪稳定,满足丘陵山区小型田块油菜播种要求。The automatic navigation system of agricultural machinery is based on the navigation control system and is equipped with an autonomous operation controller to realize land farming with less human intervention.Aiming to solve the problems that the large agricultural machineries are inconvenient to transport in small fields of hilly areas,inefficient to operate,and restricted to change direction,a set of automatic navigation operation system was constructed with a light and simple crawler-type rape seeder and Beidou RTK.This system was composed of sensing device,walking module,control module and a seeding module.According to the requirements of sowing operation,the automatic operation control strategy was designed by using finite state machine.The crawler-type rape seeder was divided into four states:non-seeding state,seeding state,steering state and completed operation state,and the state transformation was carried out by judging different paths,and the seeding operation was coordinated.The automatic navigation operation not only required vehicle coordination and planter control to achieve accurate sowing operation,but also required navigation controller with high control precision and strong adaptability.Therefore,a fuzzy adaptive pure pursuit controller based on kinematic model and geometric model was designed for light and simple tracked vehicles.A small forward looking distance would make the vehicle approach the target path quickly with large curvature,and it would also cause vehicle oscillation.A large forward looking distance would make the vehicle approach the target path slowly with small curvature.Although the vehicle would not oscillate,the settling time was long.The forward looking distance can be adjusted adaptively by using the fuzzy control method.The lateral deviation,heading deviation and speed were used as the inputs of the fuzzy controller,and the forward looking distance was used as the output of the fuzzy controller.The input and output were fuzzified and fuzzy rules were established through t

关 键 词：油菜 履带式播种机 北斗 导航 有限状态机 模糊自适应纯追踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]