农业现代化研究2016，Vol.37Issue(2)：387-394,8.DOI:10.13872/j.1000-0275.2015.0186
基于DGPS定位与双闭环转向控制的农业自动导航系统
Agricultural automatic navigation system based on DGPS positioning and double closed-loop steering control
摘要
Abstract
An agricultural automatic navigation system based on real time kinematic differential global positioning system (RTK-DGPS) and double closed-loop steering control was developed on Dongfanghong X-804 tractor. The system includes RTK-DGPS receiver, attitude and heading reference system (AHRS), steering controller, electro-hydraulic steering actuator and encoder sensor for steering angle testing. One Kalman iflter was designed to smooth the collected GPS positioning data and evaluate the bias error of the heading angle. In order to realize automatic steering, an electro-hydraulic proportional valve was added to the original manually operated steering system and the electronic control unit was designed. Then the mathematical model of steering system was derived, using Matlab System Identiifcation Toolbox to estimate transfer function parameters, and a double closed-loop control algorithm for steering was designed. Finally, experimental results of square signal tracking test and ifeld test are presented, showing that the double closed-loop control solved the control overshoot well and the maximum error is 0.60°, average error 0.40°, average delay 0.20 s. The designed Kalman iflter is helpful to improve the accuracy of positioning system and the maximum lateral tracking error is less than 0.09 m, average steering angle tracking error 0.43°, average delay 0.25 s.关键词
农业自动导航/载波相位差分全球定位系统/姿态航向参考系统/卡尔曼滤波/双闭环控制Key words
agricultural automatic navigation/real time kinematic differential global positioning system (RTK-DGPS)/attitude and heading reference system (AHRS)/Kalman iflter/double closed-loop control分类
农业科技引用本文复制引用
黎永键,赵祚喜,高俊文,吴晓鹏,关伟..基于DGPS定位与双闭环转向控制的农业自动导航系统[J].农业现代化研究,2016,37(2):387-394,8.基金项目
国家自然科学基金项目（61175081）；农业部948计划重点项目（2011-G32）；博士点基金项目（20114404110003）。@@@@National Natural Science Foundation of China (61175081) （61175081）
948 Key Project of Ministry of Agriculture (2011-G32) （2011-G32）
Doctoral Project (20114404110003) （20114404110003）
