摘要
农田作业环境复杂,影响农业机器人作业精度和效率,稳定的转向系统控制器和控制算法至关重要。传统控制器和算法的开发过度依赖于田间试验、研发周期长、干扰因素多,因此建立转向系统半实物仿真平台,其主要包括转向闭环控制系统、力矩闭环控制系统、输入输出模块以及基于Windows+RTX的实时系统。对转向闭环系统进行建模,采用基于前馈补偿的复合控制算法,并在Matlab/Simulink中对建立的模型和算法进行仿真验证。将前馈补偿复合算法与未加补偿的算法进行试验对比,仿真结果表明,最大绝对误差减小72.3%。进一步进行试验验证,系统的响应时间为0.380 s,超调量为0.296%,最大跟踪误差为0.15°,平均绝对误差0.04°。幅值为30°时,平均绝对误差减小94.23%,最大绝对误差减小88.68%。
The complex working environment,uneven road surface,obstacles,and other factors will reduce the accuracy and efficiency of agricultural robots,so the controller and control algorithm of the steering system need to be optimized and tested continuously.The development of traditional controllers and algorithms relies on field experiments,long r&d cycles,and many interference factors.Therefore,a semi-physical simulation platform for the steering system is established,which mainly includes a steering closed-loop control system,a torque closed-loop control system,input and output modules,and a real-time system based on Windows+RTX.The steering closed-loop system is modeled,the compound control algorithm based on feedforward compensation is adopted,and the established model and algorithm are simulated and verified in Matlab/Simulink.The feedforward compensation composite algorithm is compared with the uncompensated algorithm.The simulation results show that the maximum absolute error is reduced by 72.3%.Further experimental verification shows that the response time of the system is 0.380 s,the overshoot is 0.296%,the maximum tracking error is 0.15°,and the mean absolute error is 0.04°.When the amplitude is 30°,the mean absolute error is reduced by 94.23%,and the maximum absolute error is reduced by 88.68%.
作者
司博文
薛新宇
崔龙飞
Si Bowen;Xue Xinyu;Cui Longfei(Nanjing Institute of Agricultural Mechanization,Ministry of Agriculture and Rural Af fairs,Nanjing,210014,China;School of Engineering,Anhui Agricultural University,Hefei,230036,China)
出处
《中国农机化学报》
北大核心
2021年第5期114-122,共9页
Journal of Chinese Agricultural Mechanization
基金
中央级科研院所基本科研业务费专项(S202009)
江苏省现代农业装备与技术协同创新中心开发课题(4091600026)
国家自然科学基金资助项目(51605236)
国家重点研发计划(2016YFD0200705)。
关键词
农业机器人
转向测控
半实物仿真
Windows+RTX实时系统
agricultural robot
steering measurement and control system
semi-physical simulation
Windows+RTX real-time system
