Multi-operation within a field and multi-machinery within a machinery operation are common in the scene of scaled farm machinery service,especially with soaring usage of automated steering system in small and medium m...Multi-operation within a field and multi-machinery within a machinery operation are common in the scene of scaled farm machinery service,especially with soaring usage of automated steering system in small and medium machinery cooperatives.The object of this study was to explore a precise and efficient in-field coordination method to realize flow-shop scheduling for farm machinery fleet equipped with RTK-GNSS based auto-steering system.The new method is based on three-dimensional coordinate system(XYZ),within which the concept of field,operation strip,and operation task were defined.Under this concept framework,the operation strip state was further defined and its updating algorithm was designed,which can be used for optimization simulations and experiments.To evaluate the method,the waiting time between simulation and a real-world case was compared,and one cloud based prototype system was developed to demonstrate the practicability in the field by using NX200+automated steering system.The simulations showed that the in-field coordination can shorten the waiting time between two adjacent operations.The waiting time between rotary hoeing and seeding can be shortened from 4 h to 6.3 min.The field experiment showed that the prototype system could keep good consistency of ridges for a fleet by sharing the guidance line.展开更多
In this paper, the variable structure control method is improved. Based on the existence and the reaching conditions for the auto-stable region of two-order systems, a new synthesis method, auto-stable region approach...In this paper, the variable structure control method is improved. Based on the existence and the reaching conditions for the auto-stable region of two-order systems, a new synthesis method, auto-stable region approach is presented to construct a global stabilizing feedback law by using a positive definite function and a properly selected saturated function. This new approach is robust with respect to the bounded model uncertainties and is convenient for both analysis and engineering implemelltation.展开更多
基金Thanks for the support of National Key Research and Development Program of China(No.2016YFB0501805)Chinese Universities Scientific Fund(No.2017QC140).
文摘Multi-operation within a field and multi-machinery within a machinery operation are common in the scene of scaled farm machinery service,especially with soaring usage of automated steering system in small and medium machinery cooperatives.The object of this study was to explore a precise and efficient in-field coordination method to realize flow-shop scheduling for farm machinery fleet equipped with RTK-GNSS based auto-steering system.The new method is based on three-dimensional coordinate system(XYZ),within which the concept of field,operation strip,and operation task were defined.Under this concept framework,the operation strip state was further defined and its updating algorithm was designed,which can be used for optimization simulations and experiments.To evaluate the method,the waiting time between simulation and a real-world case was compared,and one cloud based prototype system was developed to demonstrate the practicability in the field by using NX200+automated steering system.The simulations showed that the in-field coordination can shorten the waiting time between two adjacent operations.The waiting time between rotary hoeing and seeding can be shortened from 4 h to 6.3 min.The field experiment showed that the prototype system could keep good consistency of ridges for a fleet by sharing the guidance line.
文摘In this paper, the variable structure control method is improved. Based on the existence and the reaching conditions for the auto-stable region of two-order systems, a new synthesis method, auto-stable region approach is presented to construct a global stabilizing feedback law by using a positive definite function and a properly selected saturated function. This new approach is robust with respect to the bounded model uncertainties and is convenient for both analysis and engineering implemelltation.
