段贤强,陶建峰,覃程锦,蔡道清,李彦明,刘成良.变速条件下农业机械路径跟踪稳定控制方法[J].农业机械学报,2019,50(9):18-24,32.
DUAN Xianqiang,TAO Jianfeng,QIN Chengjin,CAI Daoqing,LI Yanming,LIU Chengliang.Agricultural Machinery Path Tracking Stability Control Method under Variable Speed Conditions[J].Transactions of the Chinese Society for Agricultural Machinery,2019,50(9):18-24,32.
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变速条件下农业机械路径跟踪稳定控制方法   [下载全文]
Agricultural Machinery Path Tracking Stability Control Method under Variable Speed Conditions   [Download Pdf][in English]
投稿时间:2019-01-18  
DOI:10.6041/j.issn.1000-1298.2019.09.002
中文关键词:  农业机械  跟踪控制  变速  链式系统  稳定性
基金项目:国家重点研发计划项目(2017YFD0700602、2016YFD0700105)
作者单位
段贤强 上海交通大学 
陶建峰 上海交通大学 
覃程锦 上海交通大学 
蔡道清 上海交通大学 
李彦明 上海交通大学 
刘成良 上海交通大学 
中文摘要:为提高农业机械(农机)路径跟踪控制在不同速度条件下的稳定性和鲁棒性,提出了基于链式系统模型和小范围稳定性分析优化的直线路径跟踪控制方法。首先,根据几何约束建立农机非线性运动学模型,并基于链式系统模型将其转换为线性链式系统,进而对系统的误差项进行线性组合,得到农机路径跟踪控制方法;然后,基于控制方法在平衡位置小范围的稳定性分析,对控制方法进行优化,使得农机路径跟踪控制在平衡位置小范围的稳定性与行驶速度无关;最后,以水稻穴直播机为实验平台开展了直线跟踪对比实验和农机作业实验。结果表明,相比于PID控制方法,本文控制方法在3种不同速度下均能保持直线跟踪控制的稳定性,并且具有较高的控制精度。同时,本文路径跟踪控制方法的稳定性与行驶速度无关,农机作业的行驶速度在0.4~2.0m/s范围内均能实现稳定控制,平均绝对误差均值为0.047m,最大绝对误差为0.128m。
DUAN Xianqiang  TAO Jianfeng  QIN Chengjin  CAI Daoqing  LI Yanming  LIU Chengliang
Shanghai Jiao Tong University,Shanghai Jiao Tong University,Shanghai Jiao Tong University,Shanghai Jiao Tong University,Shanghai Jiao Tong University and Shanghai Jiao Tong University
Key Words:agricultural machinery  tracking control  variable speed  chained form  stability
Abstract:In order to improve the stability and robustness of agricultural machinery path tracking control under different speed conditions, a path tracking control method based on chain system model and small-scale stability analysis optimization was proposed. Firstly, the nonlinear kinematics model of agricultural machinery was established according to geometric constraints, and it was converted into linear chain system based on chain system model. The error items of the system were linearly combined to obtain the agricultural machine path tracking control method. Then, based on the stability analysis of the control method in the small range of the equilibrium position, the control method was optimized, and the stability of the agricultural machinery path tracking control in the small range of the equilibrium position was independent of the driving speed. The simulation verification control method can maintain stability at different speeds. Finally, the linear tracking contrast experiment and the agricultural machinery operation experiment were carried out with the rice transplanter as experimental platform. The results showed that compared with the PID control method, the proposed control method can maintain the stability of linear tracking control at three different speeds, and it had higher control precision. At the same time, the stability of the proposed path tracking control method was independent of the driving speed. When the driving speed of agricultural machinery was changed within the range of 0.4~2.0m/s, the proposed method can be kept stable, the average absolute error was 0.047m, and the maximum absolute error was 0.128m, which was suitable for complex agricultural machinery working environment.

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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