| 自走式表型平台及在线自整定PID速度控制研究 |
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| 引用本文： | 康凯,袁洪波,肖雪朋,赵努东,程曼.自走式表型平台及在线自整定PID速度控制研究[J].农机化研究,2022,44(4):19-25. |
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| 作者姓名： | 康凯 袁洪波 肖雪朋 赵努东 程曼 |
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| 作者单位： | 河北农业大学, 机电工程学院, 河北 保定 071000 |
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| 基金项目： | 河北省重点研发计划项目(19227206D);河北省引进留学人员资助项目(C201835,C201834);河北省高等学校科学技术研究项目(QN2018081);河北农业大学理工基金项目(LG201807)。 |
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| 摘 要： | 为了适应现代化育种、植保及栽培管理的需求,高通量作物表型信息获取成为了当前的研究热点。为了提高作物表型信息获取平台的可扩展性、泛用性和使用灵活性,设计了一种自走式作物表型信息获取平台。平台车体采用框架结构,利用4台直流电机实现4轮独立驱动,并采用1个主控芯片和4个分控芯片的模式构建了控制系统;基于继电反馈法设计了在线自整定PID调控方法,实现了PID参数在线自整定和平台的运行速度控制,并进行了空载和地面负载对比试验。结果表明:在系统空载和地面负载条件下,针对设定的不同速度,系统均可在0.169~0.468s达到稳定状态,具有较高的调节速度与精度;地面负载条件下,直接利用空载时整定得到的参数与负载后重新整定得到的参数进行速度的调节,不同速度要求条件下两者之间的误差均小于0.08s,证明空载时一次整定后的参数可直接应用于表型平台的实际速度控制。
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| 关 键 词： | 作物表型 自走式平台 速度控制 PID 参数自整定 |
Developmentof Self-Propelled Crop Phenotyping Platform and Online Self-tuning PID Speed Control Method |
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| Kang Kai,Yuan Hongbo,Xiao Xuepeng,Zhao Nudong,Cheng Man.Developmentof Self-Propelled Crop Phenotyping Platform and Online Self-tuning PID Speed Control Method[J].Journal of Agricultural Mechanization Research,2022,44(4):19-25. |
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| Authors: | Kang Kai Yuan Hongbo Xiao Xuepeng Zhao Nudong Cheng Man |
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| Institution: | (College of Mechanical and Electrical Engineering, Hebei Agricultural University, Baoding 071000, China) |
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| Abstract: | In order to meet the demands of modern breeding,plant protection and cultivation management,high-throughput crop phenotype information acquisition has become a current research hotspot.A self-propelled crop phenotyping platform was designed to improve the scalability,generalizability and flexibility of phenotyping platform.The platform body adopts a frame structure and uses 4 BLDC motors to realize 4 independent driving wheels,and the control system was constructed in the mode of 1 main control chip and 4 sub-control chips.The online self-tuning PID control method was designed based on the relay feedback to achieve the PID Parameter online self-tuning and platform speed control,and designed no-load and ground-load comparison test.The test results show that under no-load and ground-load conditions,the system can operate within 0.169~0.0.468s at different set speeds to reach a stable state,with high adjustment speed and accuracy。Under ground load conditions,the speed is adjusted directly using the parameters obtained by tuning at no load and those obtained by retuning after load.The error between the two is less than 0.08s at different speed requirements.This proves that the parameters after tuning at no load can be directly applied to the actual speed control of the phenotyping platform. |
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| Keywords: | crop phenotype self-propelled platform speed control PID self-tuning parameters |
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