一种集中式智能农机自动导航驾驶控制器的设计与实现
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摘要
智能农机自动导航驾驶技术属于当前精准农业领域的研究热点,该技术在工程化应用过程中,需要根据不同的工况频繁升级和更新软件,传统农机自动导航驾驶系统进行分模块设计,导致系统升级维护繁杂,核心技术分散,限制了该技术的应用推广;文章提出一种集中式的自动导航驾驶控制ECU设计架构,将自动导航驾驶系统所涉及的核心关键技术,如组合导航、路径自适应跟踪控制、人机交互等集成融合到ECU中进行集中式设计;经过场地测试,相比传统采用分立式的自动导航驾驶系统,在保持作业精度2.5cm的输出约束下,降低了系统复杂度,可靠性和集成度得到大幅提升。
The automatic navigation driving technology of intelligent agricultural machinery has become a research hotspot in the current research of precision agriculture.During the course of engineering,the technicians are faced with the dilemma of upgrading software modules frequently.As a result,decentralized design limits the application of this technology.In this paper,a centralized ECU design architecture is proposed to integrate the key technologies involved in the automatic navigation driving system,such as integrated navigation,path adaptive tracking control,and human-computer interaction.The field test shows,compared with the traditional discrete module system,the complexity of the system is reduced,and the reliability and integration are greatly improved under the output constraint of 2.5cm operation accuracy.
The automatic navigation driving technology of intelligent agricultural machinery has become a research hotspot in the current research of precision agriculture.During the course of engineering,the technicians are faced with the dilemma of upgrading software modules frequently.As a result,decentralized design limits the application of this technology.In this paper,a centralized ECU design architecture is proposed to integrate the key technologies involved in the automatic navigation driving system,such as integrated navigation,path adaptive tracking control,and human-computer interaction.The field test shows,compared with the traditional discrete module system,the complexity of the system is reduced,and the reliability and integration are greatly improved under the output constraint of 2.5cm operation accuracy.
引文
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[2]Zhang Q,Qiu H C.A dynamic path search algorithm for tractor automatic navigation[J].Transactions of the ASAE,2004,47(2):639-646.
[3]庄卫东,汪春.农机直线行走作业DGPS导航算法研究[J].黑龙江八一农垦大学学报,2006,18(6):50-53.
[4]陈军,鸟巢谅,朱忠祥.拖拉机在牧草地上自动引导行走的控制[J].农业机械学报,2005,36(7):104-107.
[5]周建军,张曼,汪懋华,等.基于模糊控制的农用车辆路线跟踪[J].农业机械学报,2009,40(4):151-156.
[6]罗锡文,张智刚,赵祚喜,等.东方红X-804拖拉机的DGPS自动导航控制系统[J].农业工程学报,2009,25(11):139-145.
[7]李逃昌,胡静涛,高雷,等.基于模糊自适应纯追踪模型的农业机械路径跟踪方法[J].农业机械学报,2013,44(1):205-210.
[8]白晓平,胡静涛,高雷,等.农机导航自校正模型控制方法研究[J].农业机械学报,2015,46(2):2-7.
[9]王鹤,胡静涛,高雷.农业机械自动导航车轮转角测量误差补偿模型[J].农业机械学报,2014,45(8):33-37.