开沟铺管机自动导航系统设计与试验

Automatic Navigation System Design and Experiment of Pipe-laying Trencher

为了提高开沟铺管机智能化水平,解决开沟铺管直线作业精度要求高的问题,将计算机测控技术与GPS导航技术相结合,设计了开沟铺管机自动导航控制系统。由GPS、姿态传感器和行走速度信息融合系统测量开沟铺管机实际运行轨迹,自动导航系统控制转向和自动调速,达到跟踪给定航线的目的。针对开沟铺管机履带式行走机构的特点,设计了左右履带行走速度控制与监测系统,采用模糊控制方法,构建了开沟铺管机转向闭环控制系统。田间自动导航试验结果表明,在GPS采用RTK定位方式,车辆行进速度不大于0.4m/s时,直线跟踪误差小于10 cm,自动导航系统能满足开沟铺管作业精度的要求。

In order to improve the intelligent level of the pipe-laying trencher and solve the problem of the high precision requirement of ditching line operation,an automatic navigation system was developed on pipe-laying trencher using the technology of computer control and GPS technology.According to the position information of the pipe-laying trencher acquired from GPS receiver and vehicle sensors,the information fusion system predicted the actual track of the pipe laying trencher.The automatic navigation system controlled steering to achieve the aim of tracking the given course.For the characteristics of the pipe-laying trencher hydraulic driving and crawler type walking mechanism,the design of the left and right track speed control and monitoring system realized the automatic control of the pipe-laying trencher running.The close-loop feedback control system of steering was built.The system can accurately control the trencher to follow row navigating by the fuzzy control method.The field experiment results indicate that the lateral tracking error could be kept within 10 cm when the speed of the pipe-laying trencher was not greater than 0.4 m/s.The control system can completely satisfy the precision requirement of trenching and pipe-laying.