景亮,张亚飞,沈跃,何思伟,刘慧,崔业民.四轮独立驱动高地隙无人喷雾机轨迹跟踪自适应控制[J].农业机械学报,2021,52(12):408-416.
JING Liang,ZHANG Yafei,SHEN Yue,HE Siwei,LIU Hui,CUI Yemin.Adaptive Trajectory Tracking Control of 4WID High Clearance Unmanned Sprayer[J].Transactions of the Chinese Society for Agricultural Machinery,2021,52(12):408-416.
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四轮独立驱动高地隙无人喷雾机轨迹跟踪自适应控制   [下载全文]
Adaptive Trajectory Tracking Control of 4WID High Clearance Unmanned Sprayer   [Download Pdf][in English]
投稿时间:2021-08-07  
DOI:10.6041/j.issn.1000-1298.2021.12.043
中文关键词:  高地隙无人喷雾机  四轮独立驱动  轨迹跟踪  自适应控制
基金项目:国家自然科学基金项目(51975260)、江苏省重点研发计划项目(BE2018372)、江苏省自然科学基金项目(BK20181443)、镇江市重点研发计划项目(NY2018001)和江苏高校优势学科项目(PAPD)
作者单位
景亮 江苏大学 
张亚飞 江苏大学 
沈跃 江苏大学 
何思伟 江苏大学 
刘慧 江苏大学 
崔业民 南通广益机电有限责任公司 
中文摘要:针对高地隙喷雾机在自主导航作业中因侧滑影响而导致轨迹跟踪精度降低的问题,提出一种基于四轮独立驱动(4WID)高地隙无人喷雾机的自适应控制方法。首先,建立4WID高地隙喷雾机的运动学模型;然后基于运动学几何约束和速度约束,引入两个表征侧滑效应的参数构建改进位姿误差模型;最后将参数自适应与反步控制方法结合,设计自适应控制律实时估计并补偿侧滑效应。以典型的U形作业路径为例,在考虑和不考虑侧滑的情况下分别进行了仿真和试验验证。仿真结果表明:本文提出的控制算法在喷雾机出现侧滑的情况下可以保证较高的轨迹跟踪精度;水田试验表明,当喷雾机在常规作业速度3.6km/h时,与不考虑侧滑的轨迹跟踪控制算法相比,喷雾机轨迹跟踪的横向平均绝对误差减小至0.041m,标准差减小至0.059m;纵向平均绝对误差减小至0.018m,标准差减小至0.015m;航向平均绝对误差减小至2.56°,标准差减小至3.57°。
JING Liang  ZHANG Yafei  SHEN Yue  HE Siwei  LIU Hui  CUI Yemin
Jiangsu University; Nantong Guangyi Mechanical and Electrical Co., Ltd.
Key Words:high clearance unmanned sprayer  four wheel independent drive  trajectory tracking  adaptive control
Abstract:Aiming at the problem that track tracking accuracy of high clearance unmanned sprayer is reduced due to side slip during autonomous navigation, an adaptive control method based on four wheel independent drive (4WID) high clearance unmanned sprayer was proposed. Firstly, the kinematic model of 4WID high gap sprayer was established. Then, based on the kinematic geometric constraints and velocity constraints, two characterization parameters of side slip effect were introduced to construct the improved pose error model. Finally, combining parameter adaptation with backstepping control method, an adaptive control law was designed to estimate and compensate the unknown sideslip effect at the same time. Taking the typical U-shaped path of paddy field operation as an example, the simulation and experimental verification were carried out with and without sideslip respectively. The simulation results showed that the control algorithm can ensure high tracking accuracy when the sprayer was sideslip. The paddy field test showed that when the sprayer was operating at a normal speed of 3.6km/h, it was compared with the trajectory tracking control algorithm without sideslip. The absolute value of the lateral mean error of the track tracking was reduced to 0.041m and the standard error was reduced to 0.059m, the longitudinal mean absolute error was reduced to 0.018m and the standard error was reduced to 0.015m, the average absolute error of heading was reduced to 2.56°and the standard error was reduced to 3.57°.

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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