基于北斗的圆平喷灌机行走模型与试验

Walking Model and Experiment of Center-Lateral Irrigation Machine Based on BDS

分析了基于北斗的圆平喷灌机整机结构和工作原理,基于北斗RTK系统构建了用于圆平喷灌机机组位置监控、圆形/平移功能转换、行走导航和机组姿态调控的行走调控模型。通过样机试制与现场行走试验,结果表明,圆形/平移功能转换位置准确,机组行走导航与姿态调整动作合理,样机轮胎轮辙轨迹精度<±15 cm,行走精度满足实际农业生产需求。同时,证实采用北斗RTK系统进行喷灌机位置定位与导航,其位置精度等级满足喷灌机行走需求,并验证了所构建行走调控模型的正确性与有效性。基于北斗的圆平喷灌机的研究与应用对提高农田利用率、促进农机装备智能化和推广精准农业等具有重要意义。

Main structure and working principle of center-lateral irrigation machine based on BDS were analyzed.Walking mathematical model of center-lateral irrigation machine was constructed.Based on the model and some key problems in navigation and walking control,walking control model for position monitoring,center-lateral conversion,walking navigation and unit attitude control of center-lateral irrigation machine with BDS-RTK was constructed.A prototype machine was designed and produced.Walking test was carried out.Test results showed that positions transition was accurate.Movement of unit walking navigation and attitude adjustment action was reasonable.Accuracy of tire tread track was less than±15 cm.Walking accuracy was to meet actual agricultural production needs.It was also verified that walking control model was correct and effective.Research and application of center-lateral irrigation machine based on the BDS was significant to improve utilization rate of farmland,promote intellectualization of agricultural machinery and promote precision agriculture.