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拖拉機機組無人作業(yè)協(xié)同控制系統(tǒng)設(shè)計與試驗
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國家自然科學基金項目(51905004)和安徽高校協(xié)同創(chuàng)新項目(GXXT-2020-011)


Design and Experiment of Unmanned Operation Cooperative Control System for Tractor Operating Unit
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    摘要:

    為提高拖拉機作業(yè)機組無人作業(yè)的智能化水平,,實現(xiàn)機組橫向運動,、縱向運動和機具提升作業(yè)的協(xié)同控制,設(shè)計了無人作業(yè)協(xié)同控制系統(tǒng),。以播種作業(yè)機組為研究對象,,將拖拉機機組無人作業(yè)協(xié)同控制系統(tǒng)劃分為規(guī)劃層、決策層和執(zhí)行層。規(guī)劃層結(jié)合播種農(nóng)藝要求和機組運動學特性,,采用經(jīng)/緯度坐標規(guī)劃作業(yè)路徑,,為了同時滿足直線作業(yè)區(qū)域與轉(zhuǎn)向曲線區(qū)域的路徑跟蹤,提出自適應預瞄路徑跟蹤控制算法,。決策層制定了拖拉機機組無人作業(yè)聯(lián)合控制策略,,實現(xiàn)拖拉機-播種機聯(lián)合作業(yè)精準控制。執(zhí)行層對拖拉機轉(zhuǎn)向機構(gòu),、機具提升機構(gòu),、油門踏板、制動器,、離合器等機構(gòu)進行硬件線控設(shè)計,。在此基礎(chǔ)上,分別開展無人播種作業(yè)仿真與田間試驗,,仿真結(jié)果驗證了拖拉機播種機組無人作業(yè)協(xié)同控制系統(tǒng)的可行性,。田間試驗表明:拖拉機轉(zhuǎn)向器、油門踏板,、離合器,、制動器、機具提升機構(gòu)嚴格根據(jù)規(guī)劃層與決策層制定的控制指令協(xié)同動作,。試驗過程車輪轉(zhuǎn)向平均誤差0.45°,,直線段橫向誤差均值為0.035m,轉(zhuǎn)向段橫向誤差最大值為0.11m,;機具提升響應時間為1.2s,、機具提升轉(zhuǎn)角超調(diào)量小于1.5°;油門踏板,、制動器,、離合器均根據(jù)決策指令完成操縱動作。無人作業(yè)協(xié)同控制系統(tǒng)滿足拖拉機機組無人作業(yè)的需求,,可為無人農(nóng)場提供技術(shù)支撐,。

    Abstract:

    In order to improve the intelligent level of unmanned operation of tractor operating unit and realize the cooperative control of lateral movement, longitudinal movement and tool lifting operation of tractor operating unit, a cooperative control system for unmanned operation was designed. Taking the seeding operation unit as the research object, the unmanned operation cooperative control system of tractor unit was divided into planning layer, decision layer and execution layer. In combination with the agronomic requirements of seeding and the kinematics characteristics of the tractor operating unit, the planning layer used longitude/latitude coordinates to plan the operation path. In order to meet the path tracking of both the straight line segments operation area and the turning curve area, an adaptive preview path tracking control algorithm was proposed. Decision layer formulated the unmanned operation joint control strategy of tractor operating unit to realize the precise control of tractor-planter joint operation. Execution layer was used for hardware control design to the tractor steering, lifting, throttle, brake, clutch and other mechanisms. On this basis, the unmanned seeding operation simulation and field experiments were carried out respectively, and the simulation results verified the feasibility of the unmanned operation cooperative control system for tractor seeding unit. Field experiments showed that the steering, throttle, clutch, brake and tool lifting of the tractor worked together strictly according to the control instructions made by the planning layer and the decision layer. In the experiment process, the average error of steering control was 0.45°, the mean of lateral error of straight line segments was 0.035m, and the maximum of lateral error of turning section was 0.11m. The lifting response time was 1.2s, and the overshoot of lifting angle was less than 1.5°. Throttle, brake and clutch were all operated according to the decision instruction. Unmanned operation cooperative control system met the requirement of unmanned operation of tractor unit and provided technical support for unmanned farm.

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楊洋,查家翼,李延凱,王韋韋,許良元.拖拉機機組無人作業(yè)協(xié)同控制系統(tǒng)設(shè)計與試驗[J].農(nóng)業(yè)機械學報,2022,53(2):421-429. YANG Yang, ZHA Jiayi, LI Yankai, WANG Weiwei, XU Liangyuan. Design and Experiment of Unmanned Operation Cooperative Control System for Tractor Operating Unit[J]. Transactions of the Chinese Society for Agricultural Machinery,2022,53(2):421-429.

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  • 收稿日期:2021-02-02
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  • 在線發(fā)布日期: 2021-03-26
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