摘要
为了评定水田激光平地机平地铲水平控制系统性能,采用2个SensComp 600超声波传感器测量平地铲两端与参考水平面的距离,然后利用三角关系计算得到平地铲倾斜角度。对超声波测距、传感器与反射面成一定夹角的影响以及运动对测量的影响因素进行了分析,并与姿态航向参考系统AHRS500GA-226提供的参考倾角进行了对比,结果表明2个超声波传感器在静态和动态条件下均能较准确地测量出平地铲倾斜角度,最大静止误差和最大动态误差分别为0.08°和1.00°。在平整的水泥地面上对平地铲水平系统性能进行了测试,实验结果表明,水田激光平地机水平控制系统倾斜角度测量准确,误差不超过1.00°,整个系统能较好地实现平地铲水平控制,满足水田平整作业需要。
In order to evaluate the leveling performance of the paddy field leveling machine,the inclination of the harrow was measured using two SensComp 600 ultrasonic sensors.The ultrasonic sensors were fixed on the harrow's end,and distances of each harrow's end to referenced horizontal were measured to calculate the gradient angle of the harrow.Some factors having effect on the measurement of the gradient angle were analyzed,such as the distance measured by the ultrasonic sensors,the measuring angles of the sensor,and the movement of the sensors.Then the angle was compared with the data from an attitude-heading reference system AHRS500GA-226 device.The results showed that the calculated inclination was quite accurate.The maximum static-error and the maximum dynamic-error were 0.08° and 1.00° respectively.Finally,estimating experiments were conducted in a laboratory.Based on the evaluation results,it was concluded that the leveling control system could measure the inclination real-time and exactly,and the whole leveling system works reliably.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2009年第S1期73-76,81,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家"863"高技术研究发展计划资助项目(2006AA10A304
2006AA10Z255)
关键词
水田激光平地机
超声波传感器
测距
倾斜角
水平控制
Paddy field leveling machine,Ultrasonic sensor,Distance measurement,Inclination,Leveling control
