高秆作物自对行作业控制方法研究
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摘要
高秆作物的机械化作业一直是研究的热点,目前大型机械侧重于高地隙作业平台的研究,但小地块及不规整地块则更适合小型机械平台。针对高秆作物的特性,采用触须传感器研发了可在高秆作物间自对行自走式作业平台,包括触须传感器模块、中央控制器模块、电机驱动模块和舵机转向模块,并对控制模块进行了详细阐述,设计了转换电路及控制电路以及模糊PID程序。经性能试验,其对方波信号及正弦控制信号的周期识别结果、振幅计算、平均稳态绝对误差和最大稳态误差均在阈值范围内。田间模拟实试表明,其造成的作物平均损伤率仅为0.5%。
The mechanical operation of high lever crops has been a hot research topic,and the research of large scale machinery focuses on the platform of high ground clearance,but it is more suitable for small mechanical platform. According to the characteristics of the high stalk crops by tentacles in imitation of a bend sensor developed a tall pole crop since of self-propelled type operation platform,including bending sensor module,the central controller module,motor drive module and servo steering module,and the control module were introduced in detail. The design of the switching circuit and control circuit and the fuzzy PID program,the performance test,the square wave signal and sinusoidal signal cycle identification results,amplitude calculation,average absolute error and maximum steady-state error in the threshold range. The simulation results show that the average damage rate is only 0. 5%.
The mechanical operation of high lever crops has been a hot research topic,and the research of large scale machinery focuses on the platform of high ground clearance,but it is more suitable for small mechanical platform. According to the characteristics of the high stalk crops by tentacles in imitation of a bend sensor developed a tall pole crop since of self-propelled type operation platform,including bending sensor module,the central controller module,motor drive module and servo steering module,and the control module were introduced in detail. The design of the switching circuit and control circuit and the fuzzy PID program,the performance test,the square wave signal and sinusoidal signal cycle identification results,amplitude calculation,average absolute error and maximum steady-state error in the threshold range. The simulation results show that the average damage rate is only 0. 5%.
引文
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[4]周勇,区颖刚,彭康益.4GZ-56型履带式甘蔗联合收获机设计与试验[J].农业机械学报,2010,41(4):75-78.
[5]刘庆庭,区颖刚,卿上乐.甘蔗茎秆切割机理研究[J].农机化研究,2007(1):21-24.
[6]张广军,王东伟,李金,等.4YZP-3型自走式玉米收获机设计[J].农机化研究,2016,38(2):82-86.
[7]杜岳峰.丘陵山地自走式玉米收获机设计方法与试验研究[D].北京:中国农业大学,2014.
[8]张智龙.梳脱式玉米摘穗机构设计与试验研究[D].北京:中国农业大学,2015.
[9]贾洪雷,姜鑫铭,郭明卓.32BH-3型玉米行间播种机设计与试验[J].农业机械学报,2015,46(3):83-89.
[10]陈志,郝付平,王锋德.中国玉米收获技术与装备发展研究[J].农业机械学报,2012,43(12):44-50.
[11]覃双眉,李明.澳大利亚甘蔗保护性耕作及可持续性生产[J].世界农业,2015(3)131-136.
[12]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.
[13]伟利国.农机导航多模变结构智能控制方法研究[D].北京:中国农业机械化科学研究院,2015.
[14]陈子文,张春龙,李南,等.智能高效株间锄草机器人研究进展与分析[J].农业工程学报,2015,31(5):1-8.
[15]王申莹,胡志超,吴惠昌.基于Proteus的甜菜收获机自动对行控制系统设计与仿真试验[J].中国农机化,2014,35(3):35-40.
[16]Hallam B,Floreano D,Meyer J,et al.Whisking:An Unexplored Sensory Modality[C]//From animals to animats7:Proceedings of the Seventh International Conference on Simulation of Adaptive Behavior.Cambridge:MIT Press,2002:58-59.
[17]Clements T N,Rahn C D.Three dimensional contact imaging with an actuated whisker[J].IEEE Transactions on Robotics,2006,22(4):844-848.
[18]李明义,谷安,郑汉卿.机器人触须传感器的研究及应用[J].自动化技术与应用,2015,34(9):44-47.