摘要
以XDNZ630型水稻插秧机为试验平台,采用RTK GPS定位技术,进行农业机械自动导航试验。增加了插秧机转向机构、变速机构和栽插机构的电控功能,实现了自动控制。根据GPS接收机与车载传感器获取车辆姿态信息,采用PID控制方法,构建转向闭环控制系统,实现插秧机的自动对行导航及地头转向,并进行了插秧机路面与田间导航跟踪试验。试验结果表明,在插秧机对行导航作业中,车辆行进速度不大于0.6m/s时,对行跟踪误差小于10cm,完全可以满足插秧作业精度要求。
An automatic navigation system was developed on XDNZ630 rice transplanter using RTKGPS technology.The steering mechanism,gear change mechanism and transplanting mechanism of the rice transplanter were modified from manual control system to electronic control system by using servo motors.According to the position information of the rice transplanter acquired from GPS receiver and vehicle sensors,the close-loop feedback control system of steering was built.The system can accurately control rice transplanter to follow row navigating and turn around at the end of the field by PID tracking method.The road and field experimental results indicated that the lateral tracking error could be kept within 10cm when the speed of the rice transplant was not greater than 0.6m/s.The control system can completely satisfy the precision requirement of rice transplanting.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2011年第7期186-190,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家高技术研究计划(863计划)资助项目(2006AA10A305)
"十一五"国家科技支撑计划资助项目(2009BAC55B01)
关键词
水稻插秧机
全球定位系统
导航
Rice transplanter
Global position system
Navigation
