基于北斗定位的小麦播种机控制系统优化

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英文篇名：Research on Control System of Wheat Planter Based on Beidou Positioning 作者：王浩 ; 郝凤琦 ; 董振振 ; 王茂励 ; 唐勇伟 英文作者：Wang Hao;Hao Fengqi;Dong Zhenzhen;Wang Maoli;Tang Yongwei;College of Information and Control Engineering,Qingdao University of Technology;Qilu University of Technology (Shandong Academy of Sciences), Shandong Computer Science Center (National Supercomputer Center in Jinan)/Shandong Provincial Key Laboratory of Computer Networks; 关键词：小麦小区播种机 ; 北斗定位 ; 单精度浮点数 ; S7-200 ; smart ; PLC 英文关键词：wheat plot planter;;beidou positioning;;single precision floating point number;;S7-200 smart PLC 中文刊名：NJYJ 英文刊名：Journal of Agricultural Mechanization Research 机构：青岛理工大学信息与控制工程学院;齐鲁工业大学(山东省科学院)山东省计算中心(国家超级计算济南中心)/山东省计算机网络重点实验室; 出版日期：2018-12-24 出版单位：农机化研究 年：2019 期：v.41 基金：国家重点研发计划项目(2016YFD0702103,2017YFD0710201);; 山东省农机装备研发创新计划项目(2018YZ002) 语种：中文; 页：NJYJ201910007 页数：5 CN：10 ISSN：23-1233/S 分类号：37-40+45

摘要

以西门子S7-200 smart PLC为控制器,通过对基于步进电机的分种器的控制,实现了小麦小区播种机控制系统的设计。采用北斗定位辅助取代了以往误差较大的编码器测距,实现了对作业小区的精准控制,控制精度达到厘米级。目前,PLC内部浮点数存储格式为8位单精度浮点数,而接收到的北斗GPGGA数据有效数值为16位双精度浮点数,直接转化误差非常大。为确保计算精度,提出了一种基于三角恒等式的数值分段法来解决双精度浮点数转单精度浮点数的问题。经测试,精度到达微米级。
        In this paper,the Siemens S7-200 smart PLC is used as the controller to control the control system of the wheat plotter by using the control of the stepper based on the stepping motor. The Beidou positioning aid replaces the encoder distance measurement with large error in the past,and realizes precise control of the working area,and the control precision reaches centimeter level. Considering that the PLC internal floating point number storage format is 8-bit single-precision floating-point number,the received Beidou GPGGA data valid value is 16-bit double-precision floating-point number,if the direct conversion error is very large. In order to ensure the accuracy of calculation,this paper proposes a numerical segmentation method based on trigonometric identity to solve the problem of double-precision floating-point number to single-precision floating-point number. After testing,the precision reaches the micron level.

引文

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