一种稻田自主播种机的路径跟踪方法的研究

Design and Motion Simulation of Pneumatic Device for Picking up Ground Jujube

为了克服自主式水稻播种机在水田应用中的障碍,基于一种高精度的路径跟踪算法,结合侧向偏差和航向角偏差作为反馈,建立了非线性转向控制模型,对在泥泞不平的水田中直线行驶时的转向控制进行路径跟踪,且为了避免倾斜引起的位置误差,考虑了车辆倾斜时侧倾角和俯仰角对位置坐标的影响。田间试验表明:该算法的平均绝对横向偏差小于2.9cm,航向角偏差小于0.03°,能将横向偏差减小到0.5m以内的短距离,且超过95%的测量横向偏差绝对值小于0.01m,能够满足我国水田自主式水稻播种机的精度及农艺要求。

In order to overcome the obstacles in the application of autonomous rice planters in paddy fields,this study based on a high-precision path tracking algorithm,combined with lateral deviation and heading angle deviation as feedback,established a nonlinear steering control model for muddy unevenness.In order to avoid the position error caused by inclination,the steering control when driving in a straight line in the paddy field is used for path tracking,and the influence of the roll angle and pitch angle on the position coordinates when the vehicle is inclined is considered.Field tests show that the average absolute lateral deviation of the algorithm is less than 2.9 cm and the heading angle deviation is less than 0.03°,which can reduce the lateral deviation to a short distance of less than 0.5 meters,and the absolute value of more than 95%of the measured lateral deviations is less than 0.01 m.The path tracking algorithm can meet the precision and agronomic requirements of my country's paddy field autonomous rice planter.