张闻宇,丁幼春,李兆东,雷小龙,周雅文,廖庆喜.基于双切圆寻线模型的农机导航控制方法[J].农业机械学报,2016,47(10):1-10.
Zhang Wenyu,Ding Youchun,Li Zhaodong,Lei Xiaolong,Zhou Yawen,Liao Qingxi.Dual Circle Tangential Line-tracking Model Based Tractor Navigation Control Method[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(10):1-10.
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基于双切圆寻线模型的农机导航控制方法   [下载全文]
Dual Circle Tangential Line-tracking Model Based Tractor Navigation Control Method   [Download Pdf][in English]
投稿时间:2016-03-22  
DOI:10.6041/j.issn.1000-1298.2016.10.001
中文关键词:  拖拉机  导航  双切圆寻线模型  纯追踪模型  仿真模型  转弯控制
基金项目:国家油菜产业技术体系专项(CARS—13)、公益性行业(农业)科研专项经费项目(201503116—6)、“十二五”国家科技支撑计划项目(2013BAD08B02)和中央高校基本科研业务费项目(2014PY033)
作者单位
张闻宇 华中农业大学 
丁幼春 华中农业大学
南方粮油作物协同创新中心 
李兆东 华中农业大学 
雷小龙 华中农业大学 
周雅文 华中农业大学 
廖庆喜 华中农业大学
南方粮油作物协同创新中心 
中文摘要:针对油菜直播机组导航作业中田头换行、转弯等直线跟踪之间的衔接控制问题,设计了一种适用于2BFQ—6型油菜精量联合直播机导航的双切圆寻线模型控制方法。对初始偏差较大时拖拉机的寻线路径进行了定量分析,获得最优寻线路径的几何关系,依据该关系构建控制决策方法。所建决策方法根据拖拉机位姿状态选择相匹配的控制方程组,计算获得前轮转角以实现导航控制。进行了双切圆寻线模型参数仿真优化和性能与适应性仿真试验。使用该模型控制器进行拖拉机路面导航试验,结果表明:当行驶速度为0~7m/s,拖拉机与目标直线初始横向偏差为7m,初始航向偏角为90°时,控制器横向偏差响应的超调量不超过3%,上升时间小于14s,调节时间不大于19s,较纯追踪模型方法的超调量和调节时间更小;田间和路面试验结果表明:该模型控制方法对2BFQ—6型油菜精量联合直播机导航作业过程中的对行播种起始位姿调整和套行作业自动转弯操作具有指导价值。
Zhang Wenyu  Ding Youchun  Li Zhaodong  Lei Xiaolong  Zhou Yawen  Liao Qingxi
Huazhong Agricultural University,Huazhong Agricultural University;Southern Regional Collaborative Innovation Center for Grain and Oil Crops in China,Huazhong Agricultural University,Huazhong Agricultural University,Huazhong Agricultural University and Huazhong Agricultural University;Southern Regional Collaborative Innovation Center for Grain and Oil Crops in China
Key Words:tractor  navigation  dual circle tangential line tracking model  pure pursuit model  simulation model  turning control
Abstract:A dual circle tangential line-tracking control method was designed to solve the problem of linear tracking control when navigation system of 2BFQ—6 type direct-seeding combined dual purpose planter for rapeseed working near the boarders of a field. Firstly, a geometric relation formula of optimal connecting linkage was found by quantitative analysis of the far targeted line searching path. Then the method of dual circle tangential line-tracking was constructed by the geometric relation formula, which created decision-making. According to the position and orientation of the tractor, the matching control equations were selected by decision-making, and its calculations were used for tractor navigation control. Hence, a navigation system simulation model was established, which was used to achieve the purpose of optimizing model parameters and verifying the model performance. Path experiments were carried out with the navigation system of tractor. Experiments result showed that the overshoot of lateral deflection error response was less than 3%, rising time and settling time of the response were smaller than 14s and 19s, respectively. When the speed of tractor was 0~7m/s, the initial lateral deviation error of the tractor center between the target line was 7m and the initial course deviation error was 90°. When it was compared with the method of conventional pure pursuit navigation model, the dual circle tangential line-tracking control method resulted in less values of overshoot and settling time. Based on the results of path tracking experiments and field experiments, the dual circle tangential method could be applied to operation of lane-changing and turning of 2BFQ—6 type direct-seeding combined dual purpose planter for rapeseed.

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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