| 基于控制器的农用无人机导航自动控制系统研究 |
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| 引用本文： | 魏宏飞.基于控制器的农用无人机导航自动控制系统研究[J].农机化研究,2022,44(1):218-222. |
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| 作者姓名： | 魏宏飞 |
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| 作者单位： | 河南工业职业技术学院, 河南 南阳 473000 |
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| 基金项目： | 河南省高等教育教学改革研究与实践项目(2019SJGLX69,2019SJGLX630)。 |
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| 摘 要： | 农用无人机在自主作业时,导航精度对作业性能的影响较大,如果导航精度不高,农机在行驶过程中会产生横向误差和纵向误差,从而降低农机的作业质量.为了提高农用无人机导航的精度,采用滑模控制方法建立了导航线追踪和主从系统车速协同的控制模型,并通过虚拟仿真验证了控制器的控制效果.仿真结果表明:采用滑模控制方法可以有效降低导航的误差...
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| 关 键 词： | 无人机导航 自动控制器 PLC控制 PID反馈 稳定性 |
Research on Automatic Navigation Control System of Agricultural UAV Based on Controller |
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| Wei Hongfei.Research on Automatic Navigation Control System of Agricultural UAV Based on Controller[J].Journal of Agricultural Mechanization Research,2022,44(1):218-222. |
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| Authors: | Wei Hongfei |
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| Institution: | (Henan Polytechnic Institute,Nanyang 473000,China) |
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| Abstract: | When agricultural UAV operates autonomously,the navigation accuracy has a great influence on the operation performance.If the navigation accuracy is not high,the agricultural machinery will produce horizontal and vertical errors in the process of driving,thus reducing the operation quality of agricultural machinery.In order to improve the navigation accuracy of the UAV,the sliding mode control method is adopted to improve the navigation accuracy of the UAV When the sliding mode control method is used alone,the error will fluctuate and cause the system instability.The system is further verified by introducing PID feedback control algorithm,which shows that PID algorithm can effectively eliminate the fluctuation of system error,improve the stability of the system,and then improve the operation quality of agricultural machinery. |
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| Keywords: | UAV navigation automatic controller PLC control PID feedback stability |
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