水稻穴直播机自主驾驶控制系统设计

Design of Autonomous Driving Control System for Rice Hill-drop Drilling Machine

为满足水稻穴直播机自主作业的高性能需求,对穴直播机的自主驾驶系统进行了自主化设计与验证。根据洋马VP6型穴直播机的结构特点,对穴直播机自主驾驶进行机电改造,设计了自主驾驶总控制器和CAN总线化电动转向、油门及挡位的分控制系统,满足了自动驾驶的功能要求。经过分析穴直播机的运动学模型及控制模型,分别建立了外环轨迹跟踪和内环转向角度跟踪的双闭环控制算法策略。经过反复试验,确定合适的控制器参数为k_p=1、k_d=3.5。水田环境的试验结果表明:自动驾驶控制系统达到了横向偏差的绝对值不大于8 cm的跟踪效果。

In order to challenge the high performance requirement of autonomous operation of rice hill-drop drilling machine in paddy fields, this paper designed and tested the automated driving control system of rice hill-drop drilling machine. Based to the structural features of Yanmar VP6 machine, some of the mechanism of rice hill-drop machine were modified. Furthermore, the automated driving controller and sub control system of electronic steering, engine throttle and gear shift were designed, which based on the CAN bus. Then, the kinematics and control model of rice hill-drop drilling machine were analyzed, double closed-loop control algorithm of outer loop trajectory tracking and inner loop steering angle tracking were developed. At last, the appropriate controller parameters of k p=1 and k d=3.5 were obtained by experiments, and the result showed that the transformation of rice hill-drop drilling machine could meet the functional requirement of automated driving;the maximum lateral deviation from the desired path were less than 8cm in paddy fields.