基于侧偏力矩检测的旋耕起垄拖拉机自主导航控制方法  

Autonomous Navigation Control Method of Rotary Tillage Ridging Tractor Based on Lateral Torque Detection

作　　者：林熙淼 叶云翔 王梦想 贺磊盈[1,2] 马锃宏 杜小强 LIN Ximiao;YE Yunxiang;WANG Mengxiang;HE Leiying;MA Zenghong;DU Xiaoqiang(School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China;Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province,Hangzhou 310018,China;Institute of Agricultural Equipment,Zhejiang Academy of Agricultural Sciences,Hangzhou 310021,China;Key Laboratory of Agricultural Equipment for Hilly and Mountainous Areas in Southeastern China(Co-construction by Ministry and Province),Ministry of Agriculture and Rural Affairs,Hangzhou 310018,China;Zhejiang Key Laboratory of Intelligent Sensing and Robotics for Agriculture,Hangzhou 310018,China)

机构地区：[1]浙江理工大学机械工程学院,杭州310018 [2]浙江省种植装备技术重点实验室,杭州310018 [3]浙江省农业科学院农业装备研究所,杭州310021 [4]农业农村部东南丘陵山地农业装备重点实验室(部省共建),杭州310018 [5]全省农业智能感知与机器人重点实验室,杭州310018

出　　处：《农业机械学报》2024年第S1期373-382,391,共11页Transactions of the Chinese Society for Agricultural Machinery

基　　金：浙江省农机研发制造推广应用一体化试点项目(YF20220801);浙江省“三农九方”农业科技协作项目(2024SNJF070-1)

摘　　要：拖拉机拖挂机具进行旋耕起垄作业时,由于田地不平坦且土壤紧实度不均匀,机具与土壤间存在不可预测耕作阻力,从而产生侧偏力矩,影响车辆行进位姿,进而降低导航跟踪精度。为实现在复杂农业环境下旋耕起垄的精准自主导航作业,设计了一种基于侧偏力矩检测的旋耕起垄拖拉机自主导航控制方法。首先,根据拖拉机三点悬挂结构及作业场景,分析机具悬挂点受力对导航车辆的影响,研制了一种二维轴销传感器并以此搭建了侧偏力矩采集系统,用于检测土壤相对车辆产生的侧偏力矩,试验结果表明侧偏力矩导致导航作业横向误差滞后性增加。其次,将侧偏力矩引入旋耕起垄拖拉机运动学模型中作为外部随机扰动,采用分离控制策略和线性反馈机制实时计算预测状态误差,设计了鲁棒模型预测控制(RMPC)算法控制器。最后,基于ROS框架开发导航控制系统,并将软硬件集成部署至旋耕起垄拖拉机,在单次灭茬处理的甘蓝农田进行作业试验,试验结果表明,导航平均横向误差绝对值为0.022 m,平均航向误差绝对值为0.034 rad,平均垄体直线度为4.4 cm,整体作业质量可以满足作物种植要求。When the tractor tows the tillage equipment for rotary tillage and ridge forming operations,uneven terrain and inconsistent soil compaction lead to unpredictable cultivation resistance,resulting in lateral torque that affects the vehicle’s travel posture and ultimately reduces the accuracy of navigation tracking.To achieve precise autonomous navigation for rotary tillage and ridge forming in complex agricultural environments,a control method was designed based on detecting lateral torque for autonomous navigation of the rotary tillage riding tractor.Firstly,based on the three-point hitch structure of the tractor and the operating scenario,the impact of forces at the tool suspension points on the navigation vehicle was analyzed.A two-dimensional axle pin sensor was developed to build a lateral torque collection system for detecting the lateral torque generated by the soil relative to the vehicle.The experiments demonstrated that lateral torque increased the lag in lateral errors during navigation operations.Secondly,the lateral moment of force was introduced into the kinematic model of the rotary tillage ridging tractor as an external random disturbance.A separation control strategy and linear feedback mechanism were used to calculate and predict state errors in real time,leading to the design of a robust model predictive control(RMPC)algorithm controller.Finally,a navigation control system was developed based on the ROS framework,and the software and hardware were integrated and deployed on a rotary tillage ridging tractor.Field operation experiments were conducted in a cabbage field during a single stubble treatment.The results indicated that the average absolute value of the lateral navigation error was 0.022 m,the average absolute value of the heading error was 0.034 rad,and the average linearity of the ridges was 4.4 cm,demonstrating that the overall operation quality met crop planting requirements.

关 键 词：无人拖拉机 旋耕起垄 鲁棒模型预测控制 自主导航 侧偏力矩 

分 类 号：S24[农业科学—农业电气化与自动化]