水稻插秧机自动作业系统设计与试验
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摘要
为适应现代农机自动作业发展需求,实现插植作业和速度的自动控制,设计了水稻插秧机自动作业系统。以井关PZ-60型水稻插秧机为试验平台,研究了具有CAN(Controller area network)通信接口和手动优先的手自一体插秧机速度与插植机构控制方案,设计了插秧机专家PID速度控制算法和PID插值机构控制算法以及插秧机自动作业联合控制策略。联合导航控制系统分别在水泥路面、泥底层平坦和不平坦的水田进行了速度控制试验,结果表明,速度平均误差分别为3. 25%、5. 40%和8. 01%,速度平均误差不超过10%的概率分别为98. 6%、90. 1%和68. 0%;泥底层平坦水田联合控制试验结果表明,插秧机联合控制与人工操作相当,效果良好。插秧机自动作业系统满足插秧机在无人驾驶时自动作业的需求。
In order to meet the development demands of modern agricultural machinery automatic operation,the rice transplanter automatic operation system was designed to realize the automatic control of transplanting operation and driving speed. Taking the Iseki PZ-60 rice transplanter as the research platform,the automatic-manual integration control scheme with manual mode priority was designed for transplanting components and driving speed based on the controller area network( CAN) communication.Accordingly,the incremental proportional,integral and differential( PID) as well as expert PID algorithm were designed respectively aiming at the speed and transplanting control. Meanwhile,the combined control strategy for the auto-operating transplanter was developed. Afterwards,the speed control effect of the proposed navigation control system was tested on the cement road and two kinds of paddy field each with flat bottom layer and uneven bottom layer respectively. The results showed that the average errors of speed control were 3. 25%,5. 40% and 8. 01%,respectively,the probability of the speed errors which was within 10% were 98. 6%,90. 1% and 68. 0%,respectively. A kind of paddy field with flat bottom layer was selected to conduct the combined control experiments. The results showed that the automatic combined operation control of the transplanter had approximately the same effect with that operated manually. The results indicated that the developed automatic operation system of the transplanter can meet the automatic operation requirements of the unmanned transplanter.
In order to meet the development demands of modern agricultural machinery automatic operation,the rice transplanter automatic operation system was designed to realize the automatic control of transplanting operation and driving speed. Taking the Iseki PZ-60 rice transplanter as the research platform,the automatic-manual integration control scheme with manual mode priority was designed for transplanting components and driving speed based on the controller area network( CAN) communication.Accordingly,the incremental proportional,integral and differential( PID) as well as expert PID algorithm were designed respectively aiming at the speed and transplanting control. Meanwhile,the combined control strategy for the auto-operating transplanter was developed. Afterwards,the speed control effect of the proposed navigation control system was tested on the cement road and two kinds of paddy field each with flat bottom layer and uneven bottom layer respectively. The results showed that the average errors of speed control were 3. 25%,5. 40% and 8. 01%,respectively,the probability of the speed errors which was within 10% were 98. 6%,90. 1% and 68. 0%,respectively. A kind of paddy field with flat bottom layer was selected to conduct the combined control experiments. The results showed that the automatic combined operation control of the transplanter had approximately the same effect with that operated manually. The results indicated that the developed automatic operation system of the transplanter can meet the automatic operation requirements of the unmanned transplanter.
引文
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[14]郭娜,胡静涛.插秧机行驶速度变论域自适应模糊PID控制[J/OL].农业机械学报,2013,44(12):245-251.GUO Na,HU Jingtao. Variable universe adaptive Fuzzy-PID control of traveling speed for rice transplanter[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(12):245-251. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20131241&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2013. 12. 041.(in Chinese)
[15]张硕,刘进一,杜岳峰,等.基于速度自适应的拖拉机自动导航控制方法[J].农业工程学报,2017,33(23):48-55.ZHANG Shuo,LIU Jinyi,DU Yuefeng,et al. Method on automatic navigation control of tractor based on speed adaptation[J].Transactions of the CSAE,2017,33(23):48-55.(in Chinese)
[16]张雁,李彦明,刘翔鹏,等.水稻直播机自动驾驶模糊自适应控制方法[J/OL].农业机械学报,2018,49(10):30-37.ZHANG Yan,LI Yanming,LIU Xiangpeng,et al. Fuzzy adaptive control method for autonomous rice seeder[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(10):30-37. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20181004&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2018. 10. 004.(in Chinese)
[17]韩科立,朱忠祥,毛恩荣,等.基于自动机械式变速的拖拉机定速巡航系统[J].农业工程学报,2012,28(4):21-26.HAN Keli,ZHU Zhongxiang,MAO Enrong,et al. Cruise control system of tractor based on automated mechanical transmission[J]. Transactions of the CSAE,2012,28(4):21-26.(in Chinese)
[18]陈训教,吕志军,薛向磊,等.无线遥控步行插秧机的设计与试验[J].农业工程学报,2017,33(17):10-17.CHEN Xunjiao,LZhijun,XUE Xianglei,et al. Design and performance experiment of wireless remote control walking rice transplanter[J]. Transactions of the CSAE,2017,33(17):10-17.(in Chinese)
[19] HUANG Yanan,ZHANG Aijuan,HU Muyi. Single neuron PID control based on expert experiences for temperature difference control system of a digester[J]. Paper and Biomaterials,2017,2(1):52-58.
[20]雷雨晴,张博.基于专家PID控制的压电弹药设计[J].电子设计工程,2017,25(13):187-189.
[21]彭翾,孟婥,孙以泽.步进电机基于专家PID的转速控制[J].自动化与仪表,2016,31(7):54-57.
[2]刘兆朋,张智刚,罗锡文,等.雷沃ZP9500高地隙喷雾机的GNSS自动导航作业系统设计[J].农业工程学报,2018,34(1):15-21.LIU Zhaopeng,ZHANG Zhigang,LUO Xiwen,et al. Design of automatic navigation operation system for Lovol ZP9500 high clearance boom sprayer based on GNSS[J]. Transactions of the CSAE,2018,34(1):15-21.(in Chinese)
[3]胡静涛,高雷,白晓平,等.农业机械自动导航技术研究进展[J].农业工程学报,2015,31(10):1-10.HU Jingtao,GAO Lei,BAI Xiaoping,et al. Review of research on automatic guidance of agricultural vehicles[J]. Transactions of the CSAE,2015,31(10):1-10.(in Chinese)
[4]姬长英,周俊.农业机械导航技术发展分析[J/OL].农业机械学报,2014,45(9):44-54.JI Changying,ZHOU Jun. Current situation of navigation technologies for agricultural machinery[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2014,45(9):44-54. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract.aspx? file_no=20140908&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2014. 09. 008.(in Chinese)
[5]谢斌,武仲斌,毛恩荣.农业拖拉机关键技术发展现状与展望[J/OL].农业机械学报,2018,49(8):1-17.XIE Bin,WU Zongbin,MAO Enrong,et al. Development and prospect of key technologies on agricultural tractor[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(8):1-17. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20180801&flag=1. DOI:10. 6041/j. ssn. 1000-1298. 2018. 08. 001.(in Chinese)
[6]王川,孙坦.大数据驱动下的农业信息科技创新与服务———中国农业科学院农业信息研究所“十三五”发展规划[J].数字图书馆论坛,2016(11):34-39.WANG Chuan,SUN Tan. The innovation and service of agricultural information technology driven by big data:development plan in 13th five-year of Agricultural Information Institute of Chinese Academy of Agricultural Sciences[J]. Digital Library Forum,2016(11):34-39.(in Chinese)
[7]李革,王宇,郭刘粉,等.插秧机导航路径跟踪改进纯追踪算法[J/OL].农业机械学报,2018,49(5):21-26.LI Ge,WANG Yu,GUO Liufen,et al. Improved pure pursuit algorithm for rice transplanter path tracking[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(5):21-26. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20180502&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2018. 05. 002.(in Chinese)
[8] YIN Xiang,JUAN Du,NOBORU N,et al. Development of autonomous navigation system for rice transplanter[J]. International Journal of Agricultural and Biological Engineering,2018,11(6):89-94.
[9] YOSHISADA N,NAONOBU U,YUTAKA K,et al. Autonomous guidance for rice transplanting using global positioning and gyroscopes[J]. Computers and Electronics in Agriculture,2004,43(3):223-234.
[10] YOSHISADA N,HIDEFUMI S,YUTAKA K,et al. An autonomous rice transplanter guided by global positioning system and inertial measurement unit[J]. Joural of Field Robotics,2009,26(6-7):537-548.
[11]胡炼,罗锡文,赵祚喜,等.插秧机电控操作机构和控制算法设计[J].农业工程学报,2009,25(4):118-122.HU Lian,LUO Xiwen,ZHAO Zuoxi,et al. Design of electronic control device and control algorithm for rice transplanter[J].Transactions of the CSAE,2009,25(4):118-122.(in Chinese)
[12]伟利国,张权,颜华,等. XDNZ630型水稻插秧机GPS自动导航系统[J].农业机械学报,2011,42(7):186-190.WEI Liguo,ZHANG Quan,YAN Hua,et al. GPS automatic navigation system design for XDNZ630 rice transplanter[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(7):186-190.(in Chinese)
[13]郭娜,胡静涛,王鹤,等.基于GPS导航的插秧机作业控制系统[J/OL].农业机械学报,2013,44(1):200-204.GUO Na,HU Jingtao,WANG He,et al. Intelligent operation control system for rice transplanter based on GPS navigation[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(1):200-204. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20130138&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2013. 01. 038.(in Chinese)
[14]郭娜,胡静涛.插秧机行驶速度变论域自适应模糊PID控制[J/OL].农业机械学报,2013,44(12):245-251.GUO Na,HU Jingtao. Variable universe adaptive Fuzzy-PID control of traveling speed for rice transplanter[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(12):245-251. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20131241&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2013. 12. 041.(in Chinese)
[15]张硕,刘进一,杜岳峰,等.基于速度自适应的拖拉机自动导航控制方法[J].农业工程学报,2017,33(23):48-55.ZHANG Shuo,LIU Jinyi,DU Yuefeng,et al. Method on automatic navigation control of tractor based on speed adaptation[J].Transactions of the CSAE,2017,33(23):48-55.(in Chinese)
[16]张雁,李彦明,刘翔鹏,等.水稻直播机自动驾驶模糊自适应控制方法[J/OL].农业机械学报,2018,49(10):30-37.ZHANG Yan,LI Yanming,LIU Xiangpeng,et al. Fuzzy adaptive control method for autonomous rice seeder[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(10):30-37. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20181004&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2018. 10. 004.(in Chinese)
[17]韩科立,朱忠祥,毛恩荣,等.基于自动机械式变速的拖拉机定速巡航系统[J].农业工程学报,2012,28(4):21-26.HAN Keli,ZHU Zhongxiang,MAO Enrong,et al. Cruise control system of tractor based on automated mechanical transmission[J]. Transactions of the CSAE,2012,28(4):21-26.(in Chinese)
[18]陈训教,吕志军,薛向磊,等.无线遥控步行插秧机的设计与试验[J].农业工程学报,2017,33(17):10-17.CHEN Xunjiao,LZhijun,XUE Xianglei,et al. Design and performance experiment of wireless remote control walking rice transplanter[J]. Transactions of the CSAE,2017,33(17):10-17.(in Chinese)
[19] HUANG Yanan,ZHANG Aijuan,HU Muyi. Single neuron PID control based on expert experiences for temperature difference control system of a digester[J]. Paper and Biomaterials,2017,2(1):52-58.
[20]雷雨晴,张博.基于专家PID控制的压电弹药设计[J].电子设计工程,2017,25(13):187-189.
[21]彭翾,孟婥,孙以泽.步进电机基于专家PID的转速控制[J].自动化与仪表,2016,31(7):54-57.