基于行程自校准的高精度小区播种系统研究

Research on High Precision Plot Seeding System Based on Stroke Self Calibration

目前,常见的小区播种机的控制方式基本分为编码器控制和北斗卫星控制。对于小区长度的精准度而言,北斗卫星控制的精度要高于编码器控制,但由于控制器接收北斗卫星的$GPGGA信号的频率为10Hz,导致基于北斗卫星的控制系统控制是不连续的。相较而言,编码器控制虽然对小区的长度控制精度低于北斗卫星,但由于编码器发送脉冲的间隔时间远低于0.1s,基本可以看作连续控制。因此,基于惯性导航的思想,将北斗卫星与编码器相结合,提出了一种基于行程自校准的高精度小区播种系统。大量试验表明:该控制系统能够将小区长度误差控制在1%以内,远低于常规控制方式。本文研究结果可为高精度小区播种机设计提供参考。

At present,the control methods of common plot seeding machines are basically divided into encoder control and Beidou satellite control.For the accuracy of cell length,the accuracy of Beidou satellite control is higher than that of encoder control.But because the controller receives the$GPGGA signal of the Beidou satellite at 10 Hz,the control system based on the Beidou satellite is discontinuous.Comparatively speaking,although the length control precision of the encoder is lower than that of the Beidou satellite,the time interval between the pulses sent by the encoder is much less than 0.1 s,which can be regarded as continuous control.Therefore,based on the idea of inertial navigation,this paper combines Beidou satellite with encoder,and proposes a high precision plot seeding system based on travel self-calibration.A large number of experiments show that this control system can control the cell length error within 1%,far lower than the conventional control mode.The results of this study can provide reference for high precision plot seeding.