农业机械自动导航车轮转角测量误差补偿模型

Compensation Model for Measurement Error of Wheel Turning Angle in Agricultural Vehicle Guidance

针对农业机械自动导航中,把主销转角当作车轮转角来测量会造成测量误差的问题,通过对农业机械前轮转向结构的分析,建立了一种车轮-主销转角关系模型,该模型能够补偿把主销当作车轮转角来测量的误差,提高在农业机械自动导航时车轮转角的测量精度。仿真、试验并在雷沃M800型拖拉机上实际应用表明,该模型具有较好的合理性和准确性,车轮转角测量的平均误差减小了0.48°,最大误差减小了0.71°,提高了农业机械自动导航系统的性能。

A measurement error was caused by using the kingpin turning angle in place of the wheel turning angle in agricultural vehicle guidance. A relation model between the wheel turning angle and the kingpin turning angle was established to compensate the measurement error. Then, a simulation was carried out, showing that the error between the wheel turning angle and the kingpin turning angle increased with the increase of the kingpin inclination. Next, a test was conducted to verify the correctness of the model, and the results showed that the model improved the accuracy of measurement for the wheel turning angle. The mean error decreased by 0.48°, and the maximum error decreased by 0.71° after model compensation. Finally, in practical application, the proposed model improved the performance of agricultural vehicle guidance system.