果园履带车自动导航自适应控制方法  

Adaptive Control Method for Automatic Navigation of Orchard Tracked Vehicles

作　　者：张津 徐健 王明辉 崔永杰[1,3] Zhang Jin;Xu Jian;Wang Minghui;Cui Yongjie(College of Mechanical and Electronic Engineering,Northwest A&F University,Yangling 712100,China;Shaanxi Key Laboratory of Agricultural Information Perception and Intelligent Service,Yangling 712100,China;Key Laboratory of Agricultural Internet of Things,Ministry of Agriculture and Rural Affairs,Yangling 712100,China)

机构地区：[1]西北农林科技大学机械与电子工程学院,陕西杨凌712100 [2]陕西省农业信息感知与智能服务重点实验室,陕西杨凌712100 [3]农业农村部农业物联网重点实验室,陕西杨凌712100

出　　处：《农机化研究》2024年第12期8-14,82,共8页Journal of Agricultural Mechanization Research

基　　金：国家重点研发计划项目(2019YFD1002401)。

摘　　要：为提高果园履带车自动导航精度和稳定性,兼顾成本和作业效率,提出一种基于模糊控制的自适应导航控制决策方法,并设计开发了一种自动导航嵌入式控制系统。首先,对果园履带车自动导航控制系统整体架构进行设计;其次,确定各关键子系统硬件和软件结构;再次,基于模糊控制与传统PID控制方法研究自适应导航控制决策方法,并基于MatLab/Simulink平台进行建模仿真;最后,将自动导航自适应嵌入式控制系统应用于果园履带车上进行性能评估,以及自适应控制和传统控制两种模式下的果园履带车自动导航过程对比试验。仿真结果表明:模糊PID控制方法的上升时间、超调量和稳态误差分别为0.17s、4.02%和±0.15%,相较于传统控制方法分别优化了5.88%、41.31%和34.78%。验证试验表明:自适应控制方式下果园履带车自动导航的横向偏差和纵向偏差平均值分别为6.24、9.65cm,相比于传统控制方式偏差平均值分别减小了33.97%和12.67%。所提出的果园履带车自动导航自适应控制方法和设计的嵌入式控制系统,不仅能够实现果园履带车自动导航过程的自适应调整,而且提高了自动导航的精度,保证了行驶的稳定性,可为果园履带车实际生产操作提供参考。In order to realize the precision control of automatic navigation of orchard crawler,improve the precision and stability of automatic navigation,and give consideration to the system cost and operation efficiency,an adaptive navigation control decision-making method based on fuzzy control is proposed,and an embedded control system for automatic navigation is designed and developed.Firstly,the whole architecture of the automatic navigation control system of orchard crawler is designed;Secondly,determine the hardware and software structure of each key subsystem;Then,the adaptive navigation control decision-making method is studied based on fuzzy control and traditional PID control methods,and modeling and simulation are carried out based on Matlab/Simulink platform;Finally,the adaptive embedded control system of automatic navigation is applied to the orchard crawler for performance evaluation,and the comparison test of the automatic navigation process of the orchard crawler under the adaptive control and traditional control modes is carried out.The simulation results show that the rise time,overshoot and steady-state error of the fuzzy PID control method are 0.17 s,4.02%and±0.15%respectively,which are 5.88%,41.31%and 34.78%better than those of the traditional control method.The verification test results show that the average values of the lateral deviation and longitudinal deviation of the automatic navigation of the orchard crawler under the adaptive control mode are 6.24 cm and 9.65 cm respectively,which are reduced by 33.97%and 12.67%respectively compared with the traditional control mode.The adaptive control method and the embedded control system proposed in this paper can not only realize the adaptive adjustment of the automatic navigation process of the orchard crawler,but also improve the accuracy of the automatic navigation and ensure the driving stability,which can provide a reference for the actual production operation of the orchard crawler.

关 键 词：果园履带车 自动导航 模糊控制 自适应控制决策 嵌入式系统 

分 类 号：S24[农业科学—农业电气化与自动化]