摘要
以XDNZ630型水稻高速插秧机为平台,对插秧机的转向自动控制系统进行研究。对插秧机转向机构进行了改造,采用伺服电机驱动转向轴,带动转向轮偏转。采用GPS精确定位,PID控制转向执行机构,角度传感器反馈插秧机转向角的闭环控制系统实现了转向自动控制。试验结果表明,混凝土路上平均跟踪误差为6cm,最大跟踪误差11cm;在水田中平均跟踪误差为10cm,最大跟踪误差为20cm。
In order to study automatic steering control of rice transplanter,a XDNZ630 model rice high speed transplanter was modified.A servo-motor was adopted to drive steering wheel.The automatic steering control was performed by a closed loop control system,which was based on precisely positioning by GPS,actuating steering mechanism by using PID control method,conducting angle sensor for steering angle feedback.The results of automatic line-following experiment indicated that the lateral deviation from the desired path was less than 11cm on concrete and less than 20cm in paddy field.
出处
《农机化研究》
北大核心
2011年第5期130-132,139,共4页
Journal of Agricultural Mechanization Research
基金
国家"863"计划项目(2006AA10A305-5)
