摘要
针对水稻插秧机无人驾驶需求,以井关PZ60型插秧机为试验平台,采用RTK-GPS北斗定位技术获取插秧机无人驾驶所需的高精度位置信息,以华测领航员NX300电动方向盘为执行元件实现无人驾驶插秧机转向操作。基于CAN总线设计了插秧机无人驾驶系统,通过CANOPEN协议与电动方向盘、上位机等进行通信,对待作业地块进行路径规划,用直线段与拐弯段填充作业路径,建立插秧机运动学模型。同时,提出了一种基于线性时变模型预测控制的路径跟踪算法,控制插秧机按规划路径进行直线追踪和地头转弯,实现了插秧机无人驾驶。进行插秧机无人驾驶田间试验,结果表明:基于MPC算法的控制器能够使无人驾驶插秧机车速1m/s时,有效跟踪预定义路线,直线段跟踪误差最大2.02cm,满足插秧机无人驾驶精度要求。
In this paper,aiming at the demand for unmanned rice transplanter,Jingguan PZ60 rice transplanter is used as a test platform,and RTK-GPS Beidou positioning technology is used to obtain the high-precision position information of the unmanned rice transplanter,and the Huace navigator NX300 electric steering wheel is used to realize the steering operation of the unmanned rice transplanter,and the unmanned system of the rice transplanter is designed based on the CAN bus.The system communicates with the electric steering wheel,the upper computer,etc.Through the CANOPEN protocol.Fill the operation path at the turning section,establish the kinematics model of the rice transplanter,and propose a path tracking algorithm based on linear time-varying model predictive control to control the rice transplanter to follow the planned path for straight-line tracking and head turning to realize the unmanned operation of the rice transplanter.And carry out unmanned field test of rice transplanter.The test results show that the controller based on the MPC algorithm can effectively track the predefined route when the speed of the unmanned rice transplanter is 1 m/s,and the maximum tracking error of the straight line segment is 2.02 cm,which meets the accuracy requirements of the unmanned rice transplanter.
作者
王玉亮
李汉卿
陈兆英
石绍军
陈国防
王金星
Wang Yuliang;Li Hanqing;Chen Zhaoying;Shi Shaojun;Chen Guofang;Wang Jinxing(College of Mechanical and Electrical Engineering,Shandong Agricultural University,Tai′an 271018,China;Shandong Provincial Key Laboratory of Horticultural Machineries and Equipments,Tai′an 271018,China)
出处
《农机化研究》
北大核心
2023年第3期106-112,共7页
Journal of Agricultural Mechanization Research
基金
山东省重点研发计划项目(2017GNC12109)
山东省高等学校科技计划项目(J17KA146)
“十三五”国家重点研发计划子课题(2018YFD0300606-03)。
