智能草沙障固沙机控制系统的设计与试验  

Design and Experiment of the Control System for Intelligent Straw-Checkerboard-Barriers Sand Fixing Machine

作　　者：甄文斌[1] 谢建民 李梓平 张嘉谋 杨柳 黄晓琪 Zhen Wenbin;Xie Jianmin;Li Ziping;Zhang Jiamou;Yang Liu;Huang Xiaoqi(Engineering College,South China Agricultural University,Guangzhou 510642,China)

机构地区：[1]华南农业大学工程学院,广州510642

出　　处：《农机化研究》2025年第8期61-68,共8页Journal of Agricultural Mechanization Research

基　　金：广东省高等教育教学改革项目(K20096);广东省现代农业产业技术体系项目(2019KJ139);华南农业大学工程学院大学生创新创业项目(4500-32990345)。

摘　　要：为了满足固沙机功能集成化、智能化方向发展需求,设计了一种智能草沙障固沙机控制系统,采用主从式控制系统结构,以双Arduino Mega 2560为核心主控器,使用模块化对控制系统的硬件和软件进行设计;纵向铺设控制模块、底盘升降控制模块和播种控制模块采用增量式PID控制算法;横向铺设控制模块采用位置式PID控制算法,并结合YOLOv3实现草沙障的检测追踪;以触摸屏和基于蓝牙的固沙机控制Android APP为人机交互界面。控制系统试验结果表明:基于PID算法检测追踪方式与直插式铺设方式相比,采用检测追踪方式固沙机的横向犁沙宽度减小了78.7%,整车振动减小了42.6%,草沙障铺设和播种测试功能均达到样机设计预期,为智能化固沙机研究提供了一种切实可行的设计方案。In order to meet the development needs of integrated and intelligent functions of sand fixation machines,an intelligent straw-checkerboard-barriers sand fixation machine control system had been designed.The system adopted a master-slave control system structure,with dual Arduino Mega 2560 as the core master controller,and used modularization to design the hardware and software of the control system;The longitudinal laying control module,chassis lifting control module,and seeding control module adopted incremental PID control algorithm;The horizontal laying control module adopted a positional PID control algorithm and combined it with YOLOv3 to achieve detection and tracking of straw-checkerboard-barriers;Designed a touch screen and bluetooth based sand fixing machine control Android APP as a human-machine interaction interface.The experimental results of the control system showed that compared with the direct insertion laying method,the detection and tracking method based on PID algorithm reduced the lateral plowing width of the sand fixation machine by 78.7%,reduced the vehicle vibration by 42.6%,and achieved the expected performance of the prototype design for straw-checkerboard-barriers laying and sowing testing.This provides a practical and feasible design scheme for the research of intelligent sand fixation machines.

关 键 词：草沙障 智能固沙机 控制系统 PID算法 人机交互 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]