| 题名 | 农机自动转向控制系统研究 |
| 作者 | 尹纯源 |
| 学位类别 | 硕士 |
| 答辩日期 | 2017-05-24 |
| 授予单位 | 中国科学院沈阳自动化研究所 |
| 授予地点 | 沈阳 |
| 导师 | 王卓 |
| 关键词 | 农机 液压转向控制 模糊PID变阻尼 遗传算法 嵌入式 |
| 其他题名 | Research on Key Technologies of Agricultural Machinery Automatic Steering |
| 学位专业 | 检测技术与自动化装置 |
| 中文摘要 | 我国是农业大国，农业生产是保障国家安全和人民生活的重要前提，发展现代精准农业是未来农业发展的主题和趋势。农机自动导航控制技术是实现精准农业的核心内容和重要组成部分，为精准农业实现提供基础和保障。实现农机自动导航控制技术，可以提高农机作业水平，延长农机作业时间，同时能够降低农机驾驶员的工作强度，使农机驾驶员能够更加专注于农机机具控制。在农机自动导航控制系统中，农机自动转向控制系统是农机自动导航控制系统的重中之重，其控制精度和稳定性直接决定了农机自动导航的控制精度和鲁棒性。本文以雷沃TA800农机转向前桥为基础进行了研究，设计制作了电控液压自动转向控制系统，为农机自动导航控制技术的研究奠定了坚实的基础。 首先，对国内外农机自动导航控制技术的发展历史和研究现状进行了研究分析。由于农业机械特性不尽统一，国内外学者的研究侧重点也各不相同，按照定位农机位姿获取的方式分类，主要可分为基于GPS定位方法和基于机器视觉方法。在农机自动转向控制研究中，为了达到控制目的，学者分别对基于模型的和非基于模型的转向控制算法进行了研究。 接着，针对现有农机转向系中不存在自动转向接口的问题，设计制作了电控液压转向阀块，提供了电控液压转向控制接口保持农机能够完成自动转向功能。并针对农机自动转向过程的特点建立了统一的二阶系统模型，对系统的参数进行了辨识，为后续算法的研究提供了基础。 再次，针对农机自动转向系统的组成，设计制作了嵌入式系统，并针对农机自动转向系统中所需要的功能进行了电路设计并对电路进行了调试；采用嵌入式操作系统，对嵌入式软件进行了设计，将农机自动转向过程中的任务调度提交给操作系统，简化了软件开发的流程。 在农机自动转向控制方法研究中，提出了模糊PID变阻尼的控制方法，该方法能够在线调整等效阻尼，解决了农机转向过程中超调量和响应时间之间的矛盾，提高了系统的鲁棒性。 最后，在实际工作中发现，随着时间的推移，农机转向系统会出现磨损，导致原有的控制方法精度下降，为此提出基于模型补偿的PD控制方法，该方法能够针对农机转向过程中存在的间隙进行参数辨识和补偿，提高了系统的控制精度。 |
| 英文摘要 | China is a traditional agricultural country, agriculture play an important rule for the protection of national security and people's life, the development of modern precision agriculture is the theme and trend of future agricultural development. Agricultural automatic navigation control technology is one of the main components of precision agriculture, Navigation control technology is an important foundation for the realization of precision agriculture, and the precision and stability of automatic control of agricultural machinery directly determine the control precision of agricultural automatic navigation, and realize the automatic navigation control technology of agricultural machinery, which can improve the level of agricultural machinery and prolong the operation time of agricultural machinery. Can reduce the intensity of agricultural workers, so that agricultural drivers can be more focused on the control of agricultural machinery. In this paper, Levuo TA800 agricultural machinery to the front axle to study, designed and manufactured electronic control of agricultural automatic steering control system for agricultural automatic navigation control technology research has laid a solid foundation. First of all, the development history and research status of automatic navigation control technology are studied and analyzed both at home and abroad. Due to the different characteristics of agricultural machinery, the research focus of domestic and foreign scholars is not the same, in general, it can be divided into GPS method and machine vision method. In the research of automatic steering control of agricultural machinery, it is mainly divided into agricultural model based on agricultural machinery and non-model-based method. Then for the existing agricultural steering system does not exist in the automatic steering interface problems, relying on the front axle of the Leiwo TA800 agricultural machinery to for electro-liquefaction, so that it can complete the automatic steering function. And a unified second-order system model is established according to the characteristics of agricultural automatic steering process. The parameters of the system are identified and provided the basis for the research of the follow-up algorithm. In this paper, the embedded system is designed for the automatic steering system of agricultural machinery, and the circuit design is carried out according to the functions needed in the automatic steering system of agricultural machinery. The embedded operation system is used to carry out the embedded software. the task of automatic transfer to the process of scheduling to the operating system, simplifying the software development process. In the research of agricultural automatic steering control method, a fuzzy PID variable damping control method is proposed, which can adjust the equivalent damping on-line, solve the contradiction between overshoot and response time in the process of agricultural machinery steering, improve the robustness of the system robustness. Finally, in the actual work, it is found that, with the passage of time, the agricultural machinery steering system will wear and tear, resulting in the original control method to reduce the accuracy of this, based on the model compensation PD control method, the method can be targeted for agricultural machinery Of the gap for parameter identification and compensation, improve the control accuracy of the system. |
| 语种 | 中文 |
| 产权排序 | 1 |
| 内容类型 | 学位论文 |
| 源URL | [http://ir.sia.cn/handle/173321/20527]  |
| 专题 | 沈阳自动化研究所_数字工厂研究室 |
| 推荐引用方式 GB/T 7714 | 尹纯源. 农机自动转向控制系统研究[D]. 沈阳. 中国科学院沈阳自动化研究所. 2017. |
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