基于GNSS-RTK水田平地控制系统的设计与试验  

Design and Experiment of Paddy Field LevelControl System Based on GNSS-RTK

作　　者：李根 干熊 马志艳[1,2] 陈学海 杨光友[1,2] Li Gen;Gan Xiong;Ma Zhiyan;Chen Xuehai;Yang Guangyou(Institute of Agricultural Machinery Engineering Research and Design,Hubei University of Technology,Wuhan 430068,China;Intelligent Engineering Technology Research Center for Agricultural Machinery Equipment,Wuhan 430068,China)

机构地区：[1]湖北工业大学农机工程研究设计院,武汉430068 [2]湖北省农机装备智能化工程技术研究中心,武汉430068

出　　处：《农机化研究》2025年第7期141-146,154,共7页Journal of Agricultural Mechanization Research

基　　金：湖北省农机装备补短板核心技术应用攻关项目(HBSNYT202208);湖北工业大学博士科研启动基金项目(XJ2022006601)。

摘　　要：针对水田平整的需求,研究设计了一套基于GNSS-RTK和RT-Thread的水田平地机控制系统。同时,分析了平地机液压缸超调的原因,研究了平地铲在不同通断时长下的升降高度,提出了一种可变通断时长液压油缸控制的滞环控制算法,实现了平地铲的精准控制。田间试验结果表明:超调现象得到了明显改善,提高了平地机的作业质量。Aiming at the demand of paddy field leveling,a paddy field grader control system based on GNSS-RTK and RT-Thread was designed.The reason for the overshoot of the hydraulic cylinder of the grader was analyzed,the lifting height of the grader under different on-off time was studied,and a hysteresis control algorithm for hydraulic cylinder control with variable on-off time was proposed,which realized the precise control of the grader.The field test results showed that the overshoot phenomenon had been significantly improved and the operation quality of the motor grader had been improved.

关 键 词：平地机 水田 超调 滞环控制 RT-THREAD GNSS-RTK 

分 类 号：S282[农业科学—农业水土工程]