熊斌,张俊雄,曲峰,范智棋,王大帅,李伟.基于BDS的果园施药机自动导航控制系统[J].农业机械学报,2017,48(2):45-50.
XIONG Bin,ZHANG Junxiong,QU Feng,FAN Zhiqi,WANG Dashuai,LI Wei.[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(2):45-50.
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基于BDS的果园施药机自动导航控制系统   [下载全文]
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投稿时间:2016-09-24  修订日期:2017-02-10
DOI:10.6041/j.issn.1000-1298.2017.02.006
中文关键词:  果园  施药机  自动导航  控制系统  北斗卫星导航系统
基金项目:
作者单位
熊斌 中国农业大学工学院 
张俊雄 中国农业大学工学院 
曲峰 中国农业大学工学院 
范智棋 中国农业大学工学院 
王大帅 中国农业大学工学院 
李伟 中国农业大学工学院 
中文摘要:国家根据果园施药机自动导航喷药作业需求,设计了一种基于北斗卫星导航系统(BDS)的施药机自动导航控制系统。该系统主要包括RTK-BDS接收机、导航控制器、转向控制器、电控气动转向系统和三轴电子罗盘。其中转向控制器、电控气动转向系统和三轴电子罗盘构成转向角闭环控制回路,该回路可根据导航控制器发送的施药机期望转向角实现转向角的随动控制。将施药机的运动学模型和纯追踪模型相结合,设计了施药机直线跟踪导航控制器,输入为位置坐标和方位角,输出为期望转向角。针对果园地形特点对施药机进行了导航路径规划,并在果园进行现场试验。试验结果表明:所设计的导航控制系统,在施药机行进速度为2km/h时,直线跟踪最大误差不大于0.13m,平均跟踪误差不大于0.03m,能满足果园自动导航作业精度要求。高技术研究发展计划(863计划)项目(2012AA041507)和“十二五”国家科技支撑计划项目(2015BAD23B02)
XIONG Bin  ZHANG Junxiong  QU Feng  FAN Zhiqi  WANG Dashuai  LI Wei
College of Engineering, China Agricultural University,College of Engineering, China Agricultural University,College of Engineering, China Agricultural University,College of Engineering, China Agricultural University,College of Engineering, China Agricultural University and College of Engineering, China Agricultural University
Key Words:orchard  spraying machine  automatic guidance  control system  Beidou navigation satellite system
Abstract:According to the demand of automatic navigation of orchard spraying machine, a navigation control system for spraying robot based on Beidou navigation satellite system(BDS)was designed. The system included RTK-BDS receiver, navigation controller, steering controller, electro pneumatic steering system, three dimensional electronic compass. The closed control loop of steering angle was composed of steering controller, electro pneumatic steering system, three dimensional electronic compass. The closed loop could realize the servo control of steering angle according to control command from navigation controller. The kinematics and dynamics models of spraying machine were analyzed and a look ahead dynamic path search model was established. The input of the look ahead dynamic path search model was lateral tracking error and the output was steering angle from navigation controller. Navigation path planning on the spraying machine was designed according to the characteristics of the orchard, and field tests were carried out in the orchard. The tests were done at different traveling speeds, which showed the offset error became bigger with the increase of traveling speed and the traveling speed of 2 km/h was the optimal speed for quick steering speed and small offset error. The field tests showed that the maximum offset error was no more than 0.13m and the average offset error was no more than 0.03m for straight tracking at the traveling speed of 2km/h. The field tests indicated that the navigation control method was appropriated to orchard spraying machine. 

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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