双天线GNSS精准平地控制系统试验
|
摘要
【目的】利用双天线GNSS的精准平地系统可以达到提高土地平整度、提高肥料利用率和降低水土流失的目的,可以提高农作物产量、提高平地机在不同地形作业的精度和效率,减少农民的劳动强度。【方法】GNSS精准平地控制系统通过GNSS移动站接收到的GNSS差分站发送的差分信号确定平地铲的高程和姿态角,向控制器发送指令调节电磁换向阀的开闭,通过控制液压油管中流量和流向实现实时精准调节平地铲高程和姿态角的工作目标。【结果】1.平整作业后土地最大高差从平整前的0.245 m高差缩减到0.139 m,平整度显著提升;2.该试验平地铲最大姿态角为1°,即平地铲变化范围小,始终保持平稳;3.试验田平整后记录点到基准平面距离小于2.5 cm的点占总试验田面积60%以上,平地效果良好。【结论】双天线GNSS精准平地控制系统定位精确可以达到厘米级、稳定性高、不受拖拉机行驶速度影响;液压系统响应快速,可以实现根据控制器信号精准调节平地铲高程和姿态角;系统整体设计合理,平地效果达到精准平地要求。
[Purpose]Water resources and fertilizers are important for crop growth,but huge loss of water and fertilizer commonly happens on uneven farmland. Research shows that more than20% of irrigation water and more than 30% of the fertilizer are wasted respectively because of uneven farmland surface. [Method]By using the precise flat ground system of double antenna GNSS,the aim of improving land smoothness,increasing fertilizer utilization rate and reducing soil and water loss can be achieved,and the yield of crops can be increased,and the precision and efficiency of the leveller operation in different terrain can be improved. To reduce the labor intensity of farmers,the GNSS precise and flat control system moves through GNSS. The differential signals transmitted by the GNSS differential station received by the station determines the elevation and attitude angle of the flat shovel,and sends a command to the controller to adjust the opening and closing of the solenoid commutation valve. By controlling the flow rate and flow direction of hydraulic tubing to realize the real-time and accurate adjustment of height and attitude angle of the flat shovel. [Result]The experimental results show that:(1) the maximum height difference of land after leveling operation is 0.245 m higher than that before leveling;the difference was reduced to 0.139 m;flatness increased significantly;(2) the maximum attitude angle of the flat shovel in this experiment is 1°,which means the change range of the flat shovel is small,and is always stable;(3)the distance from the recording point to the base plane is less than that of the base plane after the test field is leveled. The 2.5 cm point accounts for more than60% of the total field area,and the ground levelling effect is good. [Conclusion]According to the experimental results,the precise positioning of the double-antenna GNSS precise flat-ground control system can reach the centimeter level,the stability is high,and it is not affected by the speed of the tractor. The hydraulic system can accurately adjust the elevation and attitude angle of the shovel according to the controller signal,and the overall design of the system is reasonable and the effect of the flat ground can meet the requirement of precision and level.
[Purpose]Water resources and fertilizers are important for crop growth,but huge loss of water and fertilizer commonly happens on uneven farmland. Research shows that more than20% of irrigation water and more than 30% of the fertilizer are wasted respectively because of uneven farmland surface. [Method]By using the precise flat ground system of double antenna GNSS,the aim of improving land smoothness,increasing fertilizer utilization rate and reducing soil and water loss can be achieved,and the yield of crops can be increased,and the precision and efficiency of the leveller operation in different terrain can be improved. To reduce the labor intensity of farmers,the GNSS precise and flat control system moves through GNSS. The differential signals transmitted by the GNSS differential station received by the station determines the elevation and attitude angle of the flat shovel,and sends a command to the controller to adjust the opening and closing of the solenoid commutation valve. By controlling the flow rate and flow direction of hydraulic tubing to realize the real-time and accurate adjustment of height and attitude angle of the flat shovel. [Result]The experimental results show that:(1) the maximum height difference of land after leveling operation is 0.245 m higher than that before leveling;the difference was reduced to 0.139 m;flatness increased significantly;(2) the maximum attitude angle of the flat shovel in this experiment is 1°,which means the change range of the flat shovel is small,and is always stable;(3)the distance from the recording point to the base plane is less than that of the base plane after the test field is leveled. The 2.5 cm point accounts for more than60% of the total field area,and the ground levelling effect is good. [Conclusion]According to the experimental results,the precise positioning of the double-antenna GNSS precise flat-ground control system can reach the centimeter level,the stability is high,and it is not affected by the speed of the tractor. The hydraulic system can accurately adjust the elevation and attitude angle of the shovel according to the controller signal,and the overall design of the system is reasonable and the effect of the flat ground can meet the requirement of precision and level.
引文
[1]肖红路.国产平地机的技术发展.工程机械与维修, 2004(10):72~73, 36.
[2]李成勋. 1996—2050中国经济社会发展战略—走向现代化的构想.北京:北京出版社, 1997.
[3]王启现.我国农业科技进步与科研投资分析.科学管理研究, 2007, 25(4):113~116.
[4]胡炼.基于GPS技术的水田平地机的设计与试验.华南农业大学学报, 2015, 36(5):130~134.
[5]李赫.基于GPS平地的路径规划方法的研究.保定:河北农业大学, 2013.
[6]徐睿智.激光精细平地对畦田灌水质量的影响及节水效果分析.灌溉排水学报, 2012, 31(2):6~9.
[7]姚亚萍.激光控制平地系统研究与设计.咸阳:西北农林科技大学, 2010.
[8]巫章鹏. GNSS精平机平地铲姿态调整技术研究.咸阳:西北农林科技大学, 2015.
[9]刘刚.激光控制平地系统设计与试验分析.农业机械学报, 2006, 37(1):71~74.
[10]赵祚喜.基于MEMS惯性传感器融合的水田激光平地机水平控制系统.农业工程学报, 2008, 24(6):119~124.
[2]李成勋. 1996—2050中国经济社会发展战略—走向现代化的构想.北京:北京出版社, 1997.
[3]王启现.我国农业科技进步与科研投资分析.科学管理研究, 2007, 25(4):113~116.
[4]胡炼.基于GPS技术的水田平地机的设计与试验.华南农业大学学报, 2015, 36(5):130~134.
[5]李赫.基于GPS平地的路径规划方法的研究.保定:河北农业大学, 2013.
[6]徐睿智.激光精细平地对畦田灌水质量的影响及节水效果分析.灌溉排水学报, 2012, 31(2):6~9.
[7]姚亚萍.激光控制平地系统研究与设计.咸阳:西北农林科技大学, 2010.
[8]巫章鹏. GNSS精平机平地铲姿态调整技术研究.咸阳:西北农林科技大学, 2015.
[9]刘刚.激光控制平地系统设计与试验分析.农业机械学报, 2006, 37(1):71~74.
[10]赵祚喜.基于MEMS惯性传感器融合的水田激光平地机水平控制系统.农业工程学报, 2008, 24(6):119~124.