摘要
为实现节能、节水,提高灌溉和土地利用效率,在对太阳能技术、节水灌溉技术、全球定位系统(global positioning system,GPS)导航技术等进行研究的基础上,研制一种基于GPS导航的太阳能驱动平移式喷灌机,并在此基础上设计开发导航控制系统。整个机组以太阳能光伏组件和蓄电池为电源,直流电动机作为动力,采用四轮差速转向。以喷灌机横向偏差和航向偏差作为控制输入变量,直流电机脉冲调制(pulse width modulation,PWM)转速调节电压增量作为输出变量,构建基于线性比例控制的导航控制器,实现了对喷灌机两侧车轮转速的调节控制。导航控制系统以32位先进精简指令集机器(advanced RISC machine,ARM)微控制器STM32F103芯片为核心,集成导航控制器、转速操纵控制器、GPS、电子罗盘和转速传感器,采用控制器局域网(controller area network,CAN)总线结构进行通讯,实现喷灌机的自主导航控制。路径跟踪试验结果表明:喷灌机自动导航控制系统能基本满足喷灌作业要求,并能较好地实现路线跟踪,在以0.4、0.8 m/min速度行驶30 m过程中直线跟踪最大横向偏差不超过20 cm,系统可靠性较高。研究可为实现农业机械与太阳能技术相结合提供参考,对类似自走式喷灌机的发展提供依据。
The development of irrigation machinery is one of main factors to promote the improvement of agricultural production. To conserve and save energy and water, as well as to improve irrigation water use and land-use efficiency, a solar-powered linear move sprinkler machine based on global positioning system(GPS) navigation was developed in this study. Solar energy technology, water-saving irrigation technology and GPS navigation technology were researched and integrated on this sprinkler machine. As a platform, with the development of the solar-powered linear move sprinkler machine, the solar technology was integrated with sprinkler irrigation technology.To meet the demand of machine's tracking along fixed route, the navigation control system was designed and developed. The entire unit was powered by solar PV modules and batteries and driven by DC motor. The 4-wheel differential steering was adopted to control the direction. GPS and electronic compass were used as the navigation sensors to obtain the navigation information(position, course) of the solar-powered linear move sprinkler machine in real time. The lateral deviation and the deviation of the distance from the predetermined path were calculated by comparing with the predetermined navigation path, with solar-powered linear move sprinkler machine lateral deviation error and heading error being input variables and DC motor pulse width modulation(PWM) speed regulating voltage increment being output variables, A navigation controller was built based on linear proportional control to realize the wheel speed regulating control of both sides of sprinkler machine. According to the output of the navigation controller, the theoretical speeds of the wheel speed on both sides were calculated, and the difference between the theoretical and the actual speed of the current wheel was used as the input of the speed controller in order to realize the adjustment and control of the wheel speed on both sides of the sprinkler machine, and then realize the path tracking control of the sprinkler. The navigation control system was based on 32 bit ARM(advanced RISC machine) microcontroller STM32F103 chip as the core, and integrated navigation controller, speed steering controller, GPS, electronic compass and speed sensors. By comparing with the predetermined navigation reference line, the lateral deviation error and heading error of solar-powered linear move sprinkler machine were obtained. Controller area network(CAN) bus structure was adopted as the communication structure to achieve the autonomous navigation control of the solar-powered linear move sprinkler machine in the whole system. The path tracking experiments were operated and completed in Institute of Water Saving Agriculture in Arid Areas of China, Northwest AF University(34°17′50′′N, 108°04′6′′E) in which the platform of the solar-powered linear move sprinkler machine based on GPS navigation was the research object on April 21, 2015. During the experiments, the running track of the solar-powered linear move sprinkler machine was recorded by a drop of water, and the walking deviation of a walking path and a predetermined path were measured every 30 cm. The results of path tracking experiments showed that the solar-powered linear move sprinkler machine automatic navigation control system could basically meet the irrigation requirements, and realized route trace well. In the process of a 30 m straight line tracking, the maximum lateral deviation was 17.3 cm and 18.4 cm at the speed of 0.4 and 0.8 m/min, showing a high reliability and stability. At last, the research above not only provides important information on the realization of the combination of agricultural machinery and solar energy technology, but also was the basis for the development of similar self-walking sprinkler irrigation machine.
出处
《农业工程学报》
EI
CAS
CSCD
北大核心
2016年第16期89-94,共6页
Transactions of the Chinese Society of Agricultural Engineering
基金
国家科技支撑计划(2015BAD22B01-02)
科技部国际合作项目(2014DFG72150)
教育部
国家外国专家局"111"计划项目(B12007)
关键词
太阳能
GPS
喷灌系统
自主导航
solar energy
global positioning system
sprinkler systems
autonomous navigation