一种稻田除草机器人控制系统设计与航向控制研究  

A Study on the Design of Control System and Heading Control for a Rice Field Weeding Robot

作　　者：吉鹏 王瞳 JI Peng;WANG Tong(School of Automation,Nanjing University of Information Science&Technology,Nanjing 210000,China)

机构地区：[1]南京信息工程大学自动化学院,南京210000

出　　处：《农机使用与维修》2024年第11期1-6,共6页Agricultural Machinery Using & Maintenance

基　　金：江苏省研究生科研与实践创新计划项目(KYCX22_1203)。

摘　　要：针对消费者对绿色、有机大米需求日益增长与稻田种植者不断减少的矛盾,设计了一款采用STM32F405RGT6微控制器的稻田除草机器人。根据除草作业需求设计了控制系统的硬件平台与嵌入式软件平台,并在河流中进行作业测试。结果证明,该除草机器人能沿着预先定义的轨迹完成任务。此外,将横向间距偏差及其变化率作为输入,设计了基于模糊PID的航向控制器,实现了利用目标航向值动态迅速调整航向角度的功能,为后续稻田除草机器人控制系统设计与航向控制研究提供理论参考。In response to the contradiction between the growing consumer demand for green and organic rice and the decreasing number of rice growers,a rice field weeding robot with STM32F405RGT6 microcontroller was designed.According to the requirements of weeding operation,the hardware platform and embedded software platform of the control system were designed,and the operation test was carried out in the river.It turned out that the weeding robot was able to complete the task along a predefined trajectory.In addition,a heading controller based on fuzzy PID was designed by taking the lateral spacing deviation and its rate of change as inputs,which realized the function of dynamically and rapidly adjusting the heading angle by using the target heading value,which provided a theoretical reference for the subsequent design and heading control research of the weeding robot in paddy field.

关 键 词：除草机器人 控制系统设计 模糊PID 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]