| 农田平地机导航侧滑估计与自适应控制方法 |
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| 引用本文： | 景云鹏,刘刚,金志坤.农田平地机导航侧滑估计与自适应控制方法[J].农业机械学报,2020,51(9):26-33. |
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| 作者姓名： | 景云鹏 刘刚 金志坤 |
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| 作者单位： | 中国农业大学现代精细农业系统集成研究教育部重点实验室,北京100083;中国农业大学农业农村部农业信息获取技术重点实验室,北京100083;中国农业大学现代精细农业系统集成研究教育部重点实验室,北京100083;中国农业大学农业农村部农业信息获取技术重点实验室,北京100083;中国农业大学现代精细农业系统集成研究教育部重点实验室,北京100083;中国农业大学农业农村部农业信息获取技术重点实验室,北京100083 |
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| 基金项目： | 国家重点研发计划项目（2017YFD0701100-2017YFD0701105） |
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| 摘 要： | 针对农田平地机在无人驾驶作业时因受地面侧滑影响而导致路径追踪控制精度降低的问题,提出一种基于牵引式农田平地机的导航侧滑估计与自适应控制方法。根据路径追踪时平地铲与拖拉机的位置关系,建立了牵引式农田平地机的运动学模型;基于运动学模型,提出了一种侧滑估计器,用来预测导航控制中车轮因侧滑产生的侧滑角,并计算出拖拉机的前轮转角控制率;采用改进的非线性函数构造方法对PID控制器的参数KP、KI、KD进行实时整定,实现了农田平地机自适应导航控制。田间试验表明,该方法使平地铲路径追踪的平均绝对偏差减小了6.78 cm,标准偏差减小了10.1 cm。与无侧滑估计和参数自适应的导航控制相比,本文方法提高了农田平地机的路径追踪精度,增强了导航控制系统对平地机的适应性和鲁棒性。
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| 关 键 词： | 农田平地机 导航 侧滑估计 自适应控制 非线性整定 |
| 收稿时间： | 2020/5/27 0:00:00 |
Adaptive Guidance Control Method with Sideslip Estimation for Land Leveler Pulling by Tractor |
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| JING Yunpeng,LIU Gang,JIN Zhikun.Adaptive Guidance Control Method with Sideslip Estimation for Land Leveler Pulling by Tractor[J].Transactions of the Chinese Society of Agricultural Machinery,2020,51(9):26-33. |
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| Authors: | JING Yunpeng LIU Gang JIN Zhikun |
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| Institution: | China Agricultural University |
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| Abstract: | Sideslip phenomenon often occur when land leveler works in farmland environment, in order to reduce the influence of sideslip angle on path tracking accuracy, an adaptive guidance control method with sideslip estimation for land leveler pulling by tractor was proposed. According to the position relationship between forklift and tractor, the kinematic model of land leveler was established. A sideslip estimator based on the kinematic model was designed, which could predict the wheel slip angle due to sideslip during navigation control. Moreover, the front wheel angle control rate considering sideslip effect of tractor was calculated. Finally, an improved nonlinear function construction method was adopted to adjust the parameters of PID controller KP, KI and KD in real time to realize the adaptive control of the farmland leveler. The results of fields test showed that the path tracking mean absolute lateral of the leveling shovel in this method was reduced by 6.78cm, and the standard lateral of the leveling shovel in this method was reduced by 10.1cm. Compared with the navigation control method with no sideslip estimation and parameters adaptive, this method can improve the path tracking accuracy and the adaptability and robustness of the navigation control system for the farmland leveler. |
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| Keywords: | land leveler guidance sideslip estimation adaptive control nonlinear self-tuning |
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