基于改进滑模控制的水稻直播机路径跟踪研究  

Research on Path Tracking of Rice Direct Seeder Based on Improved Sliding Mode Control

作　　者：徐长赓 李彦明[1,2] 刘子翔 刘成良 Xu Changgeng;Li Yanming;Liu Zixiang;Liu Chengliang(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Key Laboratory of Intelligent Agricultural Technology(Yangtze River Delta),Ministry of Agriculture and Rural Affairs,Shanghai 200240,China)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]农业农村部长三角智慧农业技术重点实验室,上海200240

出　　处：《农机化研究》2025年第4期28-34,共7页Journal of Agricultural Mechanization Research

基　　金：国家重点研发计划项目(2021YFD2000602);上海市科技兴农项目(沪农科推字(2019)第4-3号)。

摘　　要：为了提高水稻直播机自动作业时路径跟踪的精度和稳定性,提出了一种基于新型非线性滑模面和改进快速变幂次趋近率的滑模路径跟踪控制方法。首先,建立Frenet坐标系下直播机的路径跟踪运动学模型;然后,为保证路径跟踪过程中横向偏差和航向偏差全局收敛,采用双曲正切函数设计滑模面;最后,在快速幂次趋近率的基础上设计了变指数幂次项,提高了系统趋近速度并有效抑制了抖振。在Simulink上搭建模型并进行仿真,与基于快速幂次趋近率和指数趋近率的滑模控制方法相比,本文改进滑模控制方法的路径跟踪误差收敛时间最短并且无抖振现象发生。直播机采用改进算法以0.8 m/s的速度在水田实际自动作业时,横向偏差和航向偏差的平均绝对误差为0.016 9 m和1.099 9°,均方差为0.021 5 m和1.499 2°,提高了路径跟踪的精度和稳定性,满足了实际作业需求。In order to improve the accuracy and stability of path tracking during automatic operation of rice direct seeder,a sliding mode path tracking control method based on a new nonlinear sliding mode surface and an improved fast variable power reaching law is proposed.Firstly,the path tracking kinematics model of the direct seeding machine in the Frenet coordinate system is established.Then,in order to ensure the global convergence of the lateral deviation and the heading deviation in the path tracking process,the hyperbolic tangent function is used to design the sliding surface.Finally,a variable exponential power term is designed based on the fast power approach rate,which improves the system reaching speed and effectively suppresses chattering.The model is built on Simulink for simulation.Compared with the sliding mode control methods based on fast power reaching law and exponential reaching law,the tracking error convergence time of the improved sliding mode control method in this paper is the shortest without chattering.When the direct seeding machine uses the algorithm in this paper to operate automatically in paddy field at the speed of 0.8 m/s,the mean absolute deviation of lateral deviation and heading deviation is 0.0169 m and 1.0999°,and the standard deviation is 0.0215 m and 1.4992°,which improves the accuracy and stability of path tracking and meets the actual operation requirements.

关 键 词：水稻直播机 路径跟踪 滑模控制 趋近率 

分 类 号：S223.23[农业科学—农业机械化工程]