基于滑模自抗扰的同步转向高地隙喷雾机姿态控制  

Sliding Mode Active Disturbance Rejection Control of Synchronous Steering High Clearance Sprayer

作　　者：刘国海[1] 李持衡 沈跃[1] 刘慧[1] 张亚飞 赵莎 LIU Guohai;LI Chiheng;SHEN Yue;LIU Hui;ZHANG Yafei;ZHAO Sha(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学电气信息工程学院,镇江212013

出　　处：《农业机械学报》2023年第3期180-189,300,共11页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51975260);江苏省普通高校研究生科研创新计划项目(KYCX213369)。

摘　　要：为提高同步转向高地隙喷雾机转向机构对目标状态的响应速度与鲁棒性,提出了一种滑模自抗扰姿态控制策略。首先,基于同步转向结构建立喷雾机姿态控制模型;其次,将喷雾机的姿态控制模型进行解耦并转换为反馈系统标准型;然后,设计线性扩张状态观测器对模型总扰动进行实时补偿,并根据补偿后的模型推导出终端滑模控制律;最后,分别通过仿真试验以及场地试验对姿态控制器的性能进行验证。在场地试验中:当目标转角为5°时,喷雾机前、后转向角的响应时间分别为1.55 s和1.45 s,当目标转角为20°时,前、后转向角的响应时间分别为3.05 s和2.95 s。本文所提出的滑模自抗扰姿态控制器与传统PID姿态控制器相比,前、后转向角的响应速度分别提高8.42%与1.89%,稳态误差分别降低2.96%与3.15%。仿真试验与场地试验结果表明,滑模自抗扰姿态控制算法收敛速度快、鲁棒性强,能够满足喷雾机在不同环境下进行无人自主导航作业的需要。To improve the response speed and robustness of the synchronous steering high clearance sprayer to the target attitude,a sliding mode active disturbance rejection controller was proposed to realize the attitude control for the synchronous steering chassis.Firstly,the attitude control model was built based on the synchronous steering structure.Then the attitude control model of the sprayer was decoupled and transformed into standard type of feedback system.After that,the extended state observer was designed to compensate the total disturbance of the model in real time,and the terminal sliding mode control rate was derived according to the attitude control model of the sprayer.Finally,the performance of the attitude controller was verified by simulation tests and field tests.In the field test,when the target angle was 5°,the response time of the front and rear steering angles of the sprayer was 1.55 s and 1.45 s.When the target angle was 20°,the response time of the front and rear steering angles of the sprayer was 3.05 s and 2.95 s,respectively.Compared with the traditional PID controller,the response speed of the forward and rear steering angles of the sliding mode active disturbance rejection controller proposed were increased by 8.42%and 1.89%,respectively,and the steady-state error was decreased by 2.96%and 3.15%,respectively.The simulation and field test results showed that the sliding mode active disturbance rejection attitude control algorithm had fast convergence speed and strong robustness,which can meet the needs of unmanned autonomous navigation operation of the sprayer in different environments.

关 键 词：高地隙喷雾机 同步转向结构 姿态控制 终端滑模自抗扰控制器 

分 类 号：S49[农业科学—植物保护]