摘要
针对在丘陵山地电动播种机无人化程度低和控制精度差等问题,研发了一种基于北斗导航系统智能导航的自走电动播种机。通过双履带独立驱动结构和浮动仿形播深控制机构,实现了电动播种机的自主播种作业和精准播种功能,同时在播种机搭载北斗导航系统(BDS)、惯性测量单元(IMU)等传感器实现了实时定位。利用MATLAB/SIMULINK对导航系统中PID(比例-积分-微分)控制器进行了仿真试验并优化智能导航参数;通过BDS读取试验数据,验证了系统在不同路况下的数据精度和滤波效果;设计了一种将预设的目的地点拆分为多个短距离目标点的导航路径插点目标跟踪算法,提高了播种机在长距离导航过程中的精确性和快速跟踪目标的能力。性能试验和大田播种试验结果表明,PID控制器中P值设为70、I值设为30、D值设为10时,系统响应最快、稳态误差最小,在预设的平地直线和洼地曲线路径上,经过BDS滤波后,定位精度均在3 cm以内,预设路径后,平均横向偏差为2.5 cm,最大横向偏差小于2.7 cm,自动导航电动播种机直线行驶时能保持恒定1.5 m/s的作业速度,CV值为5.1%,通过自适应调速算法在曲线段可保持1.1 m/s的作业速度,验证了电机播种机追踪设定路径的导航精度符合设计要求,可满足实际的农业生产需要。
To address the issues of low automation and poor control accuracy in electric seeders for hilly and mountainous terrains,a self-propelled electric seeder with intelligent navigation based on BeiDou Navigation Satellite System was developed.By designing a dual-track independent drive structure and a flexible profiling seeding-depth control mechanism,autonomous seeding operations and precise seeding functions were achieved.Additionally,the seeder was equipped with sensors such as BDS(BeiDou Navigation Satellite System)and IMU(Inertial Measurement Unit)to enable real-time positioning.MATLAB/SIMULINK was used to conduct simulation experiments and optimize intelligent navigation parameters for the PID(Proportional-Integral-Derivative)controller in the navigation system.The experimental data collected via BDS had verified the system′s data accuracy and filtering effectiveness under various road conditions.A navigation path interpolation algorithm was designed to break down preset destination points into multiple short-distance targets,enhancing the seeder′s precision and rapid target-tracking capability during long-distance navigation.Field tests results indicated that when the P value was set to 70,the I value to 30,and the D value to 10 in the PID controller,the system responded fastest and has the smallest steady-state error.On the preset straight line on flat ground and curved path on low-lying areas,after BDS filtering,the positioning accuracy was within 3 cm.After setting the seeder′s preset path,the average lateral deviation was 2.5 cm,with a maximum deviation below 2.7 cm.The autonomous electric seeder can maintain a constant operating speed of 1.5 m/s during straight-line travel,with the CV value of 5.1%.Through adaptive speed control algorithms,the speed can be kept at 1.1 m/s in curved sections.Test results indicated that the operational performance met the requirements of practical agricultural production.
作者
陈佳峰
干锦鹏
杨自栋
Chen Jiafeng;Gan Jinpeng;Yang Zidong(Hangzhou Sedlin Intelligent Equipment Co.,Ltd.,Hangzhou 311400,China;Tongshan County Vocational Education Center,Xianning 437600,China;College of Optical and Mechanical Engineering,Zhejiang A&F University,Hangzhou 311300,China)
出处
《农机化研究》
北大核心
2026年第7期219-226,共8页
Journal of Agricultural Mechanization Research
基金
浙江省尖兵领雁计划项目(2022C02042)。
关键词
电动播种机
北斗导航系统
惯性测量单元
滤波算法
PID控制器
智能导航
丘陵山地
electric seeder
BeiDou Navigation Satellite System
Inertial Measurement Unit
filtering algorithm
PID controller
intelligent navigation
hilly and mountainous areas
