喷播机自动导航控制系统设计及其性能仿真

Performance Emulating and Automatic Navigation Control System Design of Seed- spraying Machine

以嵌入式触摸屏为开发平台，编写了GPS、电子罗盘和超声波传感器 LabVIEW 数据采集程序；根据传感器采集的数据，用阶跃信号模拟上位机给喷播机的信号，喷播机以14．4、10．8、7．2、3．6km／h的速度分别在 Mat-Lab环境下对该自动导航控制系统进行了模拟测试。经过多次仿真，校正 PID 参数，结果显示：喷播机运行速度在7．2～10．8km／h，喷播机跟踪上位机信号时间为3～4s。其中，检测信号时间为1～2s，速度最大偏差量在0．36～0．97km／h之间，符合针对草原地形下喷播机作业的要求。

In this paper , the LabVIEW data acquisition program of GPS , electronic compass and ultrasonic wave sensor was wrote , the automatic navigation control system was simulated and tested the performance in the circumstance of Mat -lab with the step signal as the simulating signal of upper computer to seed -spraying machine while seed-spraying ma-chine running at speed of 4m/s, 3m/s, 2m/s and 1m/s respectively.By simulating and checking the parameters of PID some times , results show that the best running speed of seed-spraying machine is between 2 m/s-3 m/s while receiving the rotating signal from upper computer and its tracking time is 1s-5s including detecting time is 1s-2s, and the maxi-mum speed deviation value is between 0.1m/s and 0.27m/s, accords with the demand of seed-spraying machine actual work for grassland terrain .Thus the automatic navigation system has proper robustness ,and the rate of reseeding and miss-ing seeding was reduced .