大型温室地面移动式喷灌机导航控制系统设计

Design of navigation control system for large-size greenhouse ground mobile irrigator

针对悬吊轨移式喷灌机的缺点以及目前大型温室领域AGV研究的不足,设计了一种用于新型温室地面移动式喷灌机的导航控制系统.喷灌机底盘采用差速转向方式,六轮系结构,两驱动轮对称中置,前后两端对称安装4个万向轮;以STM32F103ZET6单片机作为主控芯片,采用磁带导航方式,建立了喷灌机差速转向运动数学模型,并根据模糊控制理论设计了喷灌机模糊运动控制器,完成了导航运动控制子程序设计.样机调试运行试验表明,喷灌机相对磁带偏移角在25°以内时,能够自动调整到磁导航传感器中心与磁带中心再次重合,其调整时间随其偏移角度增加而增大,当偏移角过大时,样机将完全驶离磁带路径.为确保喷灌机初始工作时能够自动调整偏差及跟踪路径行驶,喷灌机与磁带间初始偏移角度不宜过大.该研究能够为大型温室地面移动式喷灌机的设计和应用提供参考.

In view of the shortcomings of the suspension mobile sprinkler and the shortage of AGV research in the large-size greenhouse area,a navigation control system for the new greenhouse ground mobile irrigator was designed.The steering mode of the chassis was differential steering and there were six wheels installed on the chassis.Two driving wheels were installed on the center of the chassis symmetrically,and four universal wheels were installed on the front end and the rear end of the chassis symmetrically.A STM32F103ZET6 microcontroller was adopted as the main control chip and the tape navigation was adopted as the navigation mode.The motion mathematical model of the irrigator was established and the motion controller was designed according to the fuzzy control theory.Besides,the navigation motion control subroutine was designed as well.The result of the model machine running test show that when the initial offset angle of the irrigator and the tape is less than 25°,the magnetic sensor center will overlap with the tape center again as a result of the adjustment of the controller and the adjustment time increases with the initial offset angle.When the initial offset angle is too big,the model machine will leave the tape path at last.In order to ensure that the irrigator can adjust itself automatically at the beginning of the work and travel along with the tape path,the initial offset angle should not be too big.This research can provide a reference for design and application of large-size greenhouse ground mobile irrigator.