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農(nóng)業(yè)機械自動導航車輪轉(zhuǎn)角測量誤差補償模型
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國家高技術(shù)研究發(fā)展計劃(863計劃)資助項目(2013AA040403)和“十二五”國家科技支撐計劃資助項目(2011BAD20B06)


Compensation Model for Measurement Error of Wheel Turning Angle in Agricultural Vehicle Guidance
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    摘要:

    針對農(nóng)業(yè)機械自動導航中,，把主銷轉(zhuǎn)角當作車輪轉(zhuǎn)角來測量會造成測量誤差的問題,，通過對農(nóng)業(yè)機械前輪轉(zhuǎn)向結(jié)構(gòu)的分析,，建立了一種車輪-主銷轉(zhuǎn)角關(guān)系模型,，該模型能夠補償把主銷當作車輪轉(zhuǎn)角來測量的誤差,，提高在農(nóng)業(yè)機械自動導航時車輪轉(zhuǎn)角的測量精度,。仿真,、試驗并在雷沃M800型拖拉機上實際應(yīng)用表明,，該模型具有較好的合理性和準確性,，車輪轉(zhuǎn)角測量的平均誤差減小了0.48°,，最大誤差減小了0.71°，提高了農(nóng)業(yè)機械自動導航系統(tǒng)的性能,。

    Abstract:

    A measurement error was caused by using the kingpin turning angle in place of the wheel turning angle in agricultural vehicle guidance. A relation model between the wheel turning angle and the kingpin turning angle was established to compensate the measurement error. Then, a simulation was carried out, showing that the error between the wheel turning angle and the kingpin turning angle increased with the increase of the kingpin inclination. Next, a test was conducted to verify the correctness of the model, and the results showed that the model improved the accuracy of measurement for the wheel turning angle. The mean error decreased by 0.48°, and the maximum error decreased by 0.71°after model compensation．Finally, in practical application, the proposed model improved the performance of agricultural vehicle guidance system.

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王鶴,胡靜濤,高雷.農(nóng)業(yè)機械自動導航車輪轉(zhuǎn)角測量誤差補償模型[J].農(nóng)業(yè)機械學報,2014,45(8):33-37. Wang He, Hu Jingtao, Gao Lei. Compensation Model for Measurement Error of Wheel Turning Angle in Agricultural Vehicle Guidance[J]. Transactions of the Chinese Society for Agricultural Machinery,2014,45(8):33-37.

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  • 收稿日期:2013-08-28
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  • 在線發(fā)布日期: 2014-08-10
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