| 基于AutoTrac的导航控制参数整定方法试验 |
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| 引用本文： | 黄培奎,赵祚喜,靳俊栋,李叶林,可欣荣,张智刚,施垒.基于AutoTrac的导航控制参数整定方法试验[J].农业工程学报,2015,31(Z2):100-106. |
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| 作者姓名： | 黄培奎 赵祚喜 靳俊栋 李叶林 可欣荣 张智刚 施垒 |
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| 作者单位： | 华南农业大学南方农业机械与装备关键技术教育部重点实验室,广州 510642;华南农业大学工程学院,广州 510642,华南农业大学南方农业机械与装备关键技术教育部重点实验室,广州 510642;华南农业大学工程学院,广州 510642,华南农业大学南方农业机械与装备关键技术教育部重点实验室,广州 510642;华南农业大学工程学院,广州 510642,华南农业大学南方农业机械与装备关键技术教育部重点实验室,广州 510642;华南农业大学工程学院,广州 510642,华南农业大学南方农业机械与装备关键技术教育部重点实验室,广州 510642;华南农业大学工程学院,广州 510642,华南农业大学南方农业机械与装备关键技术教育部重点实验室,广州 510642;华南农业大学工程学院,广州 510642,华南农业大学南方农业机械与装备关键技术教育部重点实验室,广州 510642;华南农业大学工程学院,广州 510642 |
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| 基金项目： | 农业部948计划资助项目(2011-G32)；高等学校博士学科点专项科研基金资助项目(20114404110003)；国家自然科学基金资助项目(61175081) ；广东省研究生教育创新计划项目(2013JDXM13,2013SFKC04) |
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| 摘 要： | AutoTrac是领先的农业机械导航系统。田间作业环境的复杂与精细作业效果,要求人工经验实时调整转向灵敏度等最多9个导航控制参数。基于Taguchi法则设计正交试验整定AutoTrac关键灵敏度参数,并在约翰迪尔XUV825i全地形车上进行验证。在不同速度、土壤条件下进行RTK差分信号直线轨迹模式试验,先粗调后细调,建立行驶振荡与稳态横向偏差均方根误差两个指标整定稳态转向灵敏度、横向误差调整灵敏度和方向误差调整灵敏度优化区间。试验表明:速度、土壤条件的不同会明显影响系统稳态运行;该方法可在较少试验次数下整定关键导航控制参数,且所得参数优化区间经验证具有较强的鲁棒性与通用性。该文为导航控制参数自适应调节系统研制打下基础,可推广运用至其他导航系统。
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| 关 键 词： | 农业机械 导航 优化 参数整定 AutoTrac Taguchi法则 正交试验 |
| 收稿时间： | 2015/10/1 0:00:00 |
Navigation control parameter tuning method based on AutoTrac |
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| Huang Peikui,Zhao Zuoxi,Jin Jundong,Li Yelin,Ke Xinrong,Zhang Zhigang and Shi Lei.Navigation control parameter tuning method based on AutoTrac[J].Transactions of the Chinese Society of Agricultural Engineering,2015,31(Z2):100-106. |
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| Authors: | Huang Peikui Zhao Zuoxi Jin Jundong Li Yelin Ke Xinrong Zhang Zhigang and Shi Lei |
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| Institution: | Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China;College of Engineering, South China Agricultural University, Guangzhou 510642, China,Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China;College of Engineering, South China Agricultural University, Guangzhou 510642, China,Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China;College of Engineering, South China Agricultural University, Guangzhou 510642, China,Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China;College of Engineering, South China Agricultural University, Guangzhou 510642, China,Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China;College of Engineering, South China Agricultural University, Guangzhou 510642, China,Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China;College of Engineering, South China Agricultural University, Guangzhou 510642, China and Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China;College of Engineering, South China Agricultural University, Guangzhou 510642, China |
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| Abstract: | |
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| Keywords: | agricultural machinery navigation optimization parameter tuning AutoTrac Taguchi orthogonal experiment |
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