基于模糊控制技术的播种机自动定位导航系统研究  

Research on Automatic Positioning and Navigation System of Planter Based on Fuzzy Control Technology

作　　者：刘红艳[1] 张明伟[1] Liu Hongyan;Zhang Mingwei(Department of Mechanical and Electrical Engineering,Jiyuan Vocational and Technical College,Jiyuan 459000,Chi-)

机构地区：[1]济源职业技术学院机电工程系,河南济源459000

出　　处：《农机化研究》2024年第7期198-202,共5页Journal of Agricultural Mechanization Research

基　　金：河南省自然科学基金项目(2021GZC163)。

摘　　要：介绍了播种机自动定位导航系统总体设计,并基于播种机位置和观测角度,建立了定位导航和路径预测的数学模型。采用模糊控制技术,结合播种机和观测角度,设计了自适应模糊控制策略,可以实现播种机转向的精准控制。试验结果表明:系统相比传统PID控制方法,偏差小太多,说明本文方法能够获得较高的播种机定位导航精度,证明了系统的有效性和可行性。It firstly introduces the overall design of the automatic positioning and navigation system of the planter,then establishes the mathematical model of positioning and navigation and path prediction based on the position and observation angle of the planter,and finally uses the fuzzy control technology to design an adaptive fuzzy control strategy combined with the planter and observation angle,which can realize the accurate control of the steering of the planter.The experi-mental results show that the deviation of the system is too small compared with the traditional PID control method,which shows that the method studied in this paper can obtain high-precision positioning and navigation accuracy of the planter,which proves the effectiveness and feasibility of the system.

关 键 词：播种机机器人 自动定位导航 自适应 模糊控制 

分 类 号：S223.2[农业科学—农业机械化工程] TP273[农业科学—农业工程]