油菜直播机组自动对厢作业控制器设计与试验

Design and implementation of the operation controller for rape seeder unit on the row

针对基于视觉的油菜直播机组自动对厢作业控制,本研究提出了结合模糊控制和带死区的PD控制的组合控制器,其中模糊控制器作为对厢作业路径跟踪控制器,带死区的PD控制器作为直播机组转向控制器。根据直播机组运动模型和相机成像模型,分析了图像路径参数跟随直播机组运动的变化规律,并设计模糊控制器的控制规则。同时,在图像中将直播机组与目标厢沟相对位置没有偏差时的图像路径标定出来作为图像目标路径,据此以图像实时检测路径与图像目标路径的角度偏差和截距偏差设计为模糊控制器输入,前轮目标转角为模糊控制器输出。对直播机组前轮转向控制则设计了带死区的PD控制器,通过两者的有机结合实现了直播机组的自动对厢作业。田间试验结果表明:油菜直播机以0.5或0.8m/s的速度行驶时,直线导航跟踪的横向偏差小于6cm,以1.0m/s的速度行驶时,横向偏差小于10cm。

Visual navigation of rape direct seeder unit can improve the intelligent and reduce labor intensity, so a visual navigation controller which was made up of fuzzy controller and PD controller with dead zone was proposed.The fuzzy controller was used to track path, and PD controller with dead zone control the front wheel steering. Through the two wheel ackerman steering model and camera imaging model, the law of image detection path changing with the rape seeder unit pose changes was got.Through the law, fuzzy controller rules can be designed. Image target path in the image was determined when the rape direct seeder distance the target ditch in the right place.And,the angle error and intercept error be- tween image real-time detection path and image target path were the input of fuzzy controller.The output of fuzzy controller was front-wheel target steering angle.PD controller with dead zone was used to con- trol front wheel angle.The field test results show that： the maximum lateral deviation was less than 6 cm when the speed of rape seeder was 0.5 m/s and 0.8 m/s, and the maximum lateral deviation was less than 10 cm when the speed is 1.0 m/s.