黎永键,赵祚喜,黄培奎,关伟,吴晓鹏.基于CAN总线的拖拉机导航控制系统设计与试验[J].农业机械学报,2016,47(s1):35-42.
Li Yongjian,Zhao Zuoxi,Huang Peikui,Guan Wei,Wu Xiaopeng.Design and Experiment of Navigation Control System for Tractor Based on CAN Bus[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(s1):35-42.
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基于CAN总线的拖拉机导航控制系统设计与试验   [下载全文]
Design and Experiment of Navigation Control System for Tractor Based on CAN Bus   [Download Pdf][in English]
投稿时间:2016-07-20  
DOI:10.6041/j.issn.1000-1298.2016.S0.006
中文关键词:  拖拉机  导航  CAN总线  全球定位系统  通信协议  控制方法
基金项目:农业部“948”计划重点项目(2011-G32)和国家重点研发计划项目(2016YFD0700101)
作者单位
黎永键 广东农工商职业技术学院 
赵祚喜 华南农业大学 
黄培奎 华南农业大学 
关伟 广东农工商职业技术学院 
吴晓鹏 华南农业大学 
中文摘要:为提高农业机械导航控制的准确性,在东方红-X804型拖拉机平台上设计了一种基于CAN总线的导航控制系统,该系统包括导航控制器、GPS定位系统、转向系统以及CAN通信模块。上位机节点采用嵌入式ARM处理器AT91SAM9261,以双闭环PID控制算法实现转向控制,并基于收发控制芯片SN65HVD1050D设计了CAN接口电路。功能节点分别实现转向控制、油门开度控制、制动控制、角速度测量以及机具升降控制。根据CAN2.0总线协议制定了主动节点和从动节点的数据传输通信协议。进行了CAN通信试验以及田间作业试验。结果表明,CAN总线系统能保证信号及命令传输,东方红拖拉机能按照规划路径进行行驶、转向、变速等操作。其中,转向系统的方波信号角度跟踪稳态时平均误差0.41°,跟踪时间为1.32s;拖拉机田间试验过程中,直线行驶的横向跟踪误差平均值为0.021m,地头转向的横向跟踪误差平均值为0.016m。
Li Yongjian  Zhao Zuoxi  Huang Peikui  Guan Wei  Wu Xiaopeng
Guangdong AIB Polytechnic College,South China Agricultural University,South China Agricultural University,Guangdong AIB Polytechnic College and South China Agricultural University
Key Words:tractor  navigation  CAN Bus  global positioning system  communication protocol  control method
Abstract:An automatic navigation control system based on controller area network was designed on Dongfanghong X-804 tractor, which includes the navigation controller, GPS system, steering system and CAN communication system. The navigation controller, which used ARM processor AT91SAM9261 embedded CPU, was used to realize automatic navigation control based on double closed loop PID algorithm, and the CAN interface circuit was designed by using a control chip transceiver SN65HVD1050D. The function nodes realized steering control, speed control, brake control, and machine lift control respectively. Then, a communication protocol of CAN2.0 was presented for distributed control network. Finally, CAN communication experiment and field test were carried out based on Dongfanghong X-804 tractor. Experimental results demonstrated that the CAN bus system was able to transfer data well, and the double closed loop control solved the control overshoot well and the average error was 0.41°, with 1.32s tracking time. The field test result showed that the average lateral tracking error of positioning was 0.021m in line tracking and 0.016m in headland turning.

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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