农用柔性底盘模式切换控制参数试验与优化
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摘要
为了探索四轮独立驱动与转向农用柔性底盘模式切换的最佳工作参数,利用自制柔性底盘试验台,设计了二元二次通用旋转组合试验,以转向电桥步进电机转速与电磁摩擦锁锁紧电压为试验因素,应用熵值法,将底盘所受纵向力、横向力、转矩及偏置臂转角误差4个指标,构建成为模式切换效果综合评价指标,测试了2种因素对横行与原地回转2种模式切换效果的影响,通过Design-Expert 8.0建立了综合指标与2个因素的回归方程,采用响应面法得出了2种模式切换控制参数的最优组合并进行了试验验证。试验结果表明,2个因素及其交互作用对综合评价指标均具有极显著影响(P<0.01);横行与原地回转模式切换时转速和电压最优组合分别为81 r/min、4.60 V和91 r/min、4.41 V;优化组合下模型计算值与试验值最大相对误差为4.73%。
Agricultural flexible chassis is a kind of vehicle with four-wheel independent steering and fourwheel independent driving. There are four special motion modes of this chassis,including straight motion,cross motion,diagonal motion and in-place rotation. Each motion is achieved by controlling the steering stepper motor and the electromagnetic friction lock. For exploring the best controlling parameters of mode switching(MS),a binary quadratic rotation combination test was conducted by using a self-made flexible chassis test bench. The speed of the steering stepper motor and the locking voltage of the electromagnetic friction lock were selected as two factors in the test. The entropy method was then used to establish comprehensive evaluation index(CEI) for MS effect integrating the longitudinal force,lateral force,torque of chassis and the angle error of the off-centered arm. Analyses were presented about the influence of two factors on MS effect for the cross motion mode and the in-place rotation mode meanwhile.The regression equation of the CEI and the two factors was also established by Design-Expert 8. 0. The optimal combinations of controlling parameters for these two modes were afterwards obtained by using response surface methodology and finally validated by experiments. The results showed that these two factors and their interactions had extremely significant influence on the CEI(P < 0. 01). The optimal combination of rotation speed and voltage for these two modes was 81 r/min,4. 60 V and 91 r/min,4. 41 V,respectively. The maximum relative error between the calculated and experimental values of the CEI was4. 73%. These conclusions can provide references for the study about motion control of agricultural electric chassis.
Agricultural flexible chassis is a kind of vehicle with four-wheel independent steering and fourwheel independent driving. There are four special motion modes of this chassis,including straight motion,cross motion,diagonal motion and in-place rotation. Each motion is achieved by controlling the steering stepper motor and the electromagnetic friction lock. For exploring the best controlling parameters of mode switching(MS),a binary quadratic rotation combination test was conducted by using a self-made flexible chassis test bench. The speed of the steering stepper motor and the locking voltage of the electromagnetic friction lock were selected as two factors in the test. The entropy method was then used to establish comprehensive evaluation index(CEI) for MS effect integrating the longitudinal force,lateral force,torque of chassis and the angle error of the off-centered arm. Analyses were presented about the influence of two factors on MS effect for the cross motion mode and the in-place rotation mode meanwhile.The regression equation of the CEI and the two factors was also established by Design-Expert 8. 0. The optimal combinations of controlling parameters for these two modes were afterwards obtained by using response surface methodology and finally validated by experiments. The results showed that these two factors and their interactions had extremely significant influence on the CEI(P < 0. 01). The optimal combination of rotation speed and voltage for these two modes was 81 r/min,4. 60 V and 91 r/min,4. 41 V,respectively. The maximum relative error between the calculated and experimental values of the CEI was4. 73%. These conclusions can provide references for the study about motion control of agricultural electric chassis.
引文
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6 TABILE R.Design of the mechatronic architecture of an agricultural mobile robot[J].IFAC Proceedings Volumes,2010,43(18):717-724.
7周俊,陈钦,梁泉.基于强化学习的农业移动机器人视觉导航[J/OL].农业机械学报,2014,45(2):53-58.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20140210&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2014.02.010.ZHOU Jun,CHEN Qin,LIANG Quan.Vision navigation of agricultural mobile robot based on reinforcement learning[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2014,45(2):53-58.(in Chinese)
8张华,郑加强.4WD型农药喷雾机液压四驱底盘直行同步控制方法比较及验证[J].农业工程学报,2016,32(23):43-50.ZHANG Hua,ZHENG Jiaqiang.Comparison of straight line driving synchronous control methods and validation of 4WD sprayer chassis with hydraulic power[J].Transactions of the CSAE,2016,32(23):43-50.(in Chinese)
9刘平义,彭凤娟,李海涛,等.丘陵山区农用自适应调平底盘设计与试验[J/OL].农业机械学报,2017,48(12):42-47.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20171205&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2017.12.005.LIU Pingyi,PENG Fengjuan,LI Haitao,et al.Design and experiment of adaptive leveling chassis for hilly area[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2017,48(12):42-47.(in Chinese)
10张铁民,黄翰,黄鹏焕.电动轮式移动小车控制系统设计与试验[J].农业工程学报,2014,30(19):11-18.ZHANG Tiemin,HUANG Han,HUANG Penghuan.Design and test of drive and control system for electric wheeled mobile car[J].Transactions of the CSAE,2014,30(19):11-18.(in Chinese)
11邹福星,李建平,何相逸,等.电动自走式温室水体修复植物收获机设计与试验[J/OL].农业机械学报,2016,47(6):61-66.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160609&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.06.009.ZOU Fuxing,LI Jianping,HE Xiangyi,et al.Design and experiment of self-propelled water body restoration plants harvester[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(6):61-66.(in Chinese)
12吴伟斌,廖劲威,洪添胜,等.山地果园轮式运输机车架结构分析与优化[J].农业工程学报,2016,32(11):39-47.WU Weibin,LIAO Jingwei,HONG Tiansheng,et al.Analysis and optimization of frame structure for wheeled transporter in hill orchard[J].Transactions of the CSAE,2016,32(11):39-47.(in Chinese)
13 GAT G,GAN-MOR S,DEGANI A.Stable and robust vehicle steering control using an overhead guide in greenhouse tasks[J].Computers&Electronics in Agriculture,2016,121:234-244.
14 YE Y,HE L,ZHANG Q.Steering control strategies for a four-wheel-independent-steering bin managing robot[J].IFAC-Papers On Line,2016,49(16):39-44.
15 JIANG D,LI D,WANG S,et al.Additional yaw moment control of a 4WIS and 4WID agricultural data acquisition vehicle[J].International Journal of Advanced Robotic Systems,2015,12(6):78-88.
16 BACKMAN J,PIIRAINEN P,OKSANEN T.Smooth turning path generation for agricultural vehicles in headlands[J].Biosystems Engineering,2015,139:76-86.
17路敌,郭康权.柔性底盘的转向运动模型[J].农机化研究,2011,33(4):219-222.LU Di,GUO Kangquan.Divertical motion model of flexible chassis[J].Journal of Agricultural Mechanization Research,2011,33(4):219-222.(in Chinese)
18路敌.温室作业机的柔性底盘及其控制系统的研究与开发[D].杨凌:西北农林科技大学,2011.LU Di.Research and development for flexible chassis and its control system of conservatory work machines[D].Yangling:Northwest A&F University,2011.(in Chinese)
19宋树杰.农用柔性底盘的运动特性与控制策略研究[D].杨凌:西北农林科技大学,2017.SONG Shujie.Research on kinematical features and control strategy of agricultural flexible chassis[D].Yangling:Northwest A&F University,2017.(in Chinese)
20宋树杰,李翊宁,瞿济伟,等.柔性底盘性能检测试验台设计与应用[J/OL].农业机械学报,2016,47(2):77-83.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160211&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.02.011.SONG Shujie,LI Yining,QU Jiwei,et al.Development and application of test bench for flexible chassis[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(2):77-83.(in Chinese)
21杨露,郭康权,丁新民.基于电桥电路的温室作业柔性底盘转向控制系统的设计[J].农机化研究,2013,35(9):151-155.YANG Lu,GUO Kangquan,DING Xinmin.The steering control system design of flexible chassis for conservatory work based on bridge circuit[J].Journal of Agricultural Mechanization Research,2013,35(9):151-155.(in Chinese)
22宋树杰,瞿济伟,李翊宁,等.农用车底盘偏置转向轴驱动轮运动与动力特性试验[J].农业工程学报,2015,31(23):28-34.SONG Shujie,QU Jiwei,LI Yining,et al.Experiment on movement and dynamic property of driving wheel with offset steering shaft for agricultural vehicle[J].Transactions of the CSAE,2015,31(23):28-34.(in Chinese)
23邱菀华.管理决策熵学及其应用[M].北京:中国电力出版社,2011.
2齐飞,魏晓明,张跃峰.中国设施园艺装备技术发展现状与未来研究方向[J].农业工程学报,2017,33(24):1-9.QI Fei,WEI Xiaoming,ZHANG Yuefeng.Development status and future research emphase on greenhouse horticultural equipment and its relative technology in China[J].Transactions of the CSAE,2017,33(24):1-9.(in Chinese)
3刘继展.温室采摘机器人技术研究进展分析[J/OL].农业机械学报,2017,48(12):1-18.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20171201&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2017.12.001.LIU Jizhan.Research progress analysis of robotic harvesting technologies in greenhouse[J/OL].Transactivons of the Chinese Society for Agricultural Machinery,2017,48(12):1-18.(in Chinese)
4 REDPATH D A G,MCILVEEN-WRIGHT D,KATTAKAYAM T,et al.Battery powered electric vehicles charged via solar photovoltaic arrays developed for light agricultural duties in remote hilly areas in the Southern Mediterranean region[J].Journal of Cleaner Production,2011,19(17-18):2034-2048.
5 BECHAR A,VIGNEAULT C.Agricultural robots for field operations.Part 2:Operations and systems[J].Biosystems Engineering,2017,153:110-128.
6 TABILE R.Design of the mechatronic architecture of an agricultural mobile robot[J].IFAC Proceedings Volumes,2010,43(18):717-724.
7周俊,陈钦,梁泉.基于强化学习的农业移动机器人视觉导航[J/OL].农业机械学报,2014,45(2):53-58.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20140210&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2014.02.010.ZHOU Jun,CHEN Qin,LIANG Quan.Vision navigation of agricultural mobile robot based on reinforcement learning[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2014,45(2):53-58.(in Chinese)
8张华,郑加强.4WD型农药喷雾机液压四驱底盘直行同步控制方法比较及验证[J].农业工程学报,2016,32(23):43-50.ZHANG Hua,ZHENG Jiaqiang.Comparison of straight line driving synchronous control methods and validation of 4WD sprayer chassis with hydraulic power[J].Transactions of the CSAE,2016,32(23):43-50.(in Chinese)
9刘平义,彭凤娟,李海涛,等.丘陵山区农用自适应调平底盘设计与试验[J/OL].农业机械学报,2017,48(12):42-47.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20171205&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2017.12.005.LIU Pingyi,PENG Fengjuan,LI Haitao,et al.Design and experiment of adaptive leveling chassis for hilly area[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2017,48(12):42-47.(in Chinese)
10张铁民,黄翰,黄鹏焕.电动轮式移动小车控制系统设计与试验[J].农业工程学报,2014,30(19):11-18.ZHANG Tiemin,HUANG Han,HUANG Penghuan.Design and test of drive and control system for electric wheeled mobile car[J].Transactions of the CSAE,2014,30(19):11-18.(in Chinese)
11邹福星,李建平,何相逸,等.电动自走式温室水体修复植物收获机设计与试验[J/OL].农业机械学报,2016,47(6):61-66.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160609&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.06.009.ZOU Fuxing,LI Jianping,HE Xiangyi,et al.Design and experiment of self-propelled water body restoration plants harvester[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(6):61-66.(in Chinese)
12吴伟斌,廖劲威,洪添胜,等.山地果园轮式运输机车架结构分析与优化[J].农业工程学报,2016,32(11):39-47.WU Weibin,LIAO Jingwei,HONG Tiansheng,et al.Analysis and optimization of frame structure for wheeled transporter in hill orchard[J].Transactions of the CSAE,2016,32(11):39-47.(in Chinese)
13 GAT G,GAN-MOR S,DEGANI A.Stable and robust vehicle steering control using an overhead guide in greenhouse tasks[J].Computers&Electronics in Agriculture,2016,121:234-244.
14 YE Y,HE L,ZHANG Q.Steering control strategies for a four-wheel-independent-steering bin managing robot[J].IFAC-Papers On Line,2016,49(16):39-44.
15 JIANG D,LI D,WANG S,et al.Additional yaw moment control of a 4WIS and 4WID agricultural data acquisition vehicle[J].International Journal of Advanced Robotic Systems,2015,12(6):78-88.
16 BACKMAN J,PIIRAINEN P,OKSANEN T.Smooth turning path generation for agricultural vehicles in headlands[J].Biosystems Engineering,2015,139:76-86.
17路敌,郭康权.柔性底盘的转向运动模型[J].农机化研究,2011,33(4):219-222.LU Di,GUO Kangquan.Divertical motion model of flexible chassis[J].Journal of Agricultural Mechanization Research,2011,33(4):219-222.(in Chinese)
18路敌.温室作业机的柔性底盘及其控制系统的研究与开发[D].杨凌:西北农林科技大学,2011.LU Di.Research and development for flexible chassis and its control system of conservatory work machines[D].Yangling:Northwest A&F University,2011.(in Chinese)
19宋树杰.农用柔性底盘的运动特性与控制策略研究[D].杨凌:西北农林科技大学,2017.SONG Shujie.Research on kinematical features and control strategy of agricultural flexible chassis[D].Yangling:Northwest A&F University,2017.(in Chinese)
20宋树杰,李翊宁,瞿济伟,等.柔性底盘性能检测试验台设计与应用[J/OL].农业机械学报,2016,47(2):77-83.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160211&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.02.011.SONG Shujie,LI Yining,QU Jiwei,et al.Development and application of test bench for flexible chassis[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(2):77-83.(in Chinese)
21杨露,郭康权,丁新民.基于电桥电路的温室作业柔性底盘转向控制系统的设计[J].农机化研究,2013,35(9):151-155.YANG Lu,GUO Kangquan,DING Xinmin.The steering control system design of flexible chassis for conservatory work based on bridge circuit[J].Journal of Agricultural Mechanization Research,2013,35(9):151-155.(in Chinese)
22宋树杰,瞿济伟,李翊宁,等.农用车底盘偏置转向轴驱动轮运动与动力特性试验[J].农业工程学报,2015,31(23):28-34.SONG Shujie,QU Jiwei,LI Yining,et al.Experiment on movement and dynamic property of driving wheel with offset steering shaft for agricultural vehicle[J].Transactions of the CSAE,2015,31(23):28-34.(in Chinese)
23邱菀华.管理决策熵学及其应用[M].北京:中国电力出版社,2011.