拖拉机自动驾驶转向轮角检测方法
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摘要
以雷沃M904-D型轮式拖拉机为研究平台,采用WYH-3型无触点角度传感器,研究了轮式拖拉机转向轮角的标定和检测方法。介绍了拖拉机转向轮角度传感器的安装方法;采用带标度的转盘标定了角度传感器与拖拉机转向轮角之间的关系,标定结果表明,两者线性关系显著,相关系数超过0. 99。对轮角测试中存在的误差进行分析,提出基于最小二乘原理的转向轮角零位偏差估计方法,以估计车轮相对零位偏差。路径跟踪试验结果表明,其横向跟踪偏差的绝对值极值为2. 74 cm,偏差绝对值的平均值为0. 49 cm,标准差为0. 58 cm。提出的轮式拖拉机转向轮角测量模型在路径跟踪控制应用中表现出较好的效果,验证了转向轮角测试方案的可行性与准确性。
Steering wheel angle detection is one of the key technologies to realize automatic navigation of agricultural machinery. The measurement results of agricultural machinery steering wheel angle directly affect the accuracy of automatic navigation control and the effect of agricultural machinery operation.Taking the Lovol M904-D wheeled tractor as the research platform,the WYH-3 non-contact angle sensor was used to study the calibration and detection method of steering wheel angle of wheeled tractor. The installation method of tractor steering wheel angle sensor was introduced. The relationship between angle sensor and agricultural machine steering angle was calibrated by scaled dial. The calibration results showed that the correlation was significantly and the coefficient was over 0. 99. Focusing on the bias error in the wheel angle calibration test,a curve optimization fitting method based on the least squares principle was proposed to estimate the position deviation of the wheel relative to 0°. Preview tracking model based path tracking test showed that the extreme value of navigation control deviation was 2. 74 cm,the average absolute value of deviation was 0. 49 cm,and the standard deviation was 0. 58 cm. It indicated that the path tracking control precision was high,and the feasibility and accuracy of the steering wheel angle detection scheme were verified.
Steering wheel angle detection is one of the key technologies to realize automatic navigation of agricultural machinery. The measurement results of agricultural machinery steering wheel angle directly affect the accuracy of automatic navigation control and the effect of agricultural machinery operation.Taking the Lovol M904-D wheeled tractor as the research platform,the WYH-3 non-contact angle sensor was used to study the calibration and detection method of steering wheel angle of wheeled tractor. The installation method of tractor steering wheel angle sensor was introduced. The relationship between angle sensor and agricultural machine steering angle was calibrated by scaled dial. The calibration results showed that the correlation was significantly and the coefficient was over 0. 99. Focusing on the bias error in the wheel angle calibration test,a curve optimization fitting method based on the least squares principle was proposed to estimate the position deviation of the wheel relative to 0°. Preview tracking model based path tracking test showed that the extreme value of navigation control deviation was 2. 74 cm,the average absolute value of deviation was 0. 49 cm,and the standard deviation was 0. 58 cm. It indicated that the path tracking control precision was high,and the feasibility and accuracy of the steering wheel angle detection scheme were verified.
引文
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[2]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.LUO Xiwen,ZHANG Zhigang,ZHAO Zuoxi,et al. Design of DGPS navigation control system for Dongfanghong X-804 tractor[J]. Transactions of the CSAE,2009,25(11):139-145.(in Chinese)
[3]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)
[4]魏爽,李世超,张漫,等.基于GNSS的农机自动导航路径搜索及转向控制[J].农业工程学报,2017,33(增刊):70-77.WEI Shuang,LI Shichao,ZHANG Man,et al. Automatic navigation path search and turning control of agricultural machinery based on GNSS[J]. Transactions of the CSAE,2017,33(Supp.)70-77.(in Chinese)
[5]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)
[6] JAVIER Santana-Fernández,JAIME Gómez-Gil,LAURA Del-Pozo-San-Cirilo. Design and implementation of a GPS guidance system for agricultural tractors using augmented reality technology[J]. Sensors,2010,10(11):10435-10447.
[7]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/OL].农业机械学报,2014,45(8):33-37.WANG He,HU Jingtao,GAO Lei. Compensation model for measurement error of wheel turning angle in agricultural vehicle guidance[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2014,45(8):33-37. http:∥www. jcsam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20140806&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2014. 08. 006.(in Chinese)
[8]连志鹏.自动驾驶农机转向控制研究[D].上海:上海工程技术大学,2015.LIAN Zhipeng. Research on automatic steering control of agricultural machinery[D]. Shanghai:Shanghai University of Engineering Science,2015.(in Chinese)
[9]王朝阳.基于陀螺仪的车辆前轮转角测量方法研究[D].上海:上海工程技术大学,2015.WANG Chaoyang. Research of the vehicle front wheel angle measurement based on the gyroscope[D]. Shanghai:Shanghai University of Engineering Science,2015.(in Chinese)
[10]陈艳,张漫,马文强,等.基于GPS和机器视觉的组合导航定位方法[J].农业工程学报,2011,27(3):126-130.CHEN Yan,ZHANG Man,MA Wenqiang,et al. Positioning method of integrated navigation based on GPS and machine vision[J]. Transactions of the CSAE,2011,27(3):126-130.(in Chinese)
[11]贾全.拖拉机自动导航系统关键技术研究[D].北京:中国农业机械化科学研究院,2013.JIA Quan. Study on key technology of tractor auto-navigation system[D]. Beijing:Chinese Academy of Agricultural Mechanization Sciences,2013.(in Chinese)
[12] GROVES P D. Navigation using inertial sensors[J]. IEEE Aerospace and Electronic Systems Magazine,2015,30(2):42-69.
[13]张亚娇.农机自动驾驶监控终端关键技术研究与系统开发[D].广州:华南农业大学,2016.ZHANG Yajiao. Key technology research and system development on automatic navigation of monitoring terminal for agricultural machinery[D]. Guangzhou:South China Agricultural University,2016.(in Chinese)
[14]李军,马蓉.拖拉机自动转向系统设计研究[J].拖拉机与农用运输车,2012,39(5):47-50.LI Jun,MA Rong. Design and study of tractor automatic steering system[J]. Tractor&Farm Transporter,2012,39(5):47-50.(in Chinese)
[15]胡书鹏,尚业华,刘卉,等.拖拉机转向轮转角位移式和四连杆式间接测量方法对比试验[J].农业工程学报,2017,33(4):76-82.HU Shupeng,SHANG Yehua,LIU Hui,et al. Comparative test between displacement and four-bar indirect measurement methods for tractor guide wheel angle[J]. Transactions of the CSAE,2017,33(4):76-82.(in Chinese)
[16]缪存孝,楚焕鑫,孙志辉,等.基于双GNSS天线及单陀螺的车轮转角测量系统[J/OL].农业机械学报,2017,48(9):17-23.MIAO Cunxiao,CHU Huanxin,SUN Zhihui,et al. Wheel turning angle measurement system based on double GNSS antennas and single gyro[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(9):17-23. http:∥www.j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20170902&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2017. 09.002.(in Chinese)
[17]张宝富,穆希辉,杜峰坡,等.基于光电编码器和PLC的车轮转角检测显示系统[J].机械与电子,2009,27(7):62-63,77.ZHANG Baofu,MU Xihui,DU Fengpo,et al. A wheel angle measuring and displaying system based on photoelectric encoder and PLC[J]. Machinery&Electronics,2009,27(7):62-63,77.(in Chinese)
[18]周全申,乔永钦,朱琳.车辆转向机构设计与分析[J].河南工业大学学报(自然科学版),2006,27(2):60-62.ZHOU Quanshen,QIAO Yongqin,ZHU Lin. Design and analyze of mechanism of vehicle change direction[J]. Journal of Henan University of Technology(Natural Science Edition),2006,27(2):60-62.(in Chinese)
[19] JEFFREY D W. Sensor fusion for field robot localization[D]. Urbana:University of Illinois,2001.