沈阳农业大学学报2016，Vol.47Issue(3)：314-319,6.DOI:10.3969/j.issn.1000-1700.2016.03.009
基于DSP的水田平地机倾角传感系统设计与试验
Design and Experiment of Roll Angle Sensing System Based on DSP for Paddy Field Leveler
摘要
Abstract
The roll angle of paddy field leveler is an important feedback for the automatic leveling control of leveling machine in paddy field. In order to accurately measure the roll angle of paddy field leveler, achieve paddy fields precise leveling, reduce the waste of water resources, enhance the yield of rice, a roll angle sensing system (RASS) based on DSP for paddy field leveler was designed. Inertia accelerometer and gyroscope as RASS sensor for measuring the angle was used, the measuring principle of RASS was analyzed, and the hardware system and Kalman filtering algorithm was designed. The RASS synthetically used accelerometer of measuring acceleration of gravity and acceleration of gravity by triangle as well as gyroscope of measuring angular velocity of the rolling of paddy field leveler and the derivative of the roll angle of paddy field leveler to measure the roll angle of paddy field leveler. The hardware system of RASS was made up of triaxial accelerometer ADIS16300, gyroscope ADXRS453 and DSP processor TMS320F28069, etc, among them the DSP processor mainly implemented sensor data acquisition, algorithm implementation and data communication, etc. With the true roll angle of paddy field leveler and gyroscope zero deviation as the state vector system, the system state equation and measurement equation was established, and the real-time roll angle of paddy field leveler was obtained through the discrete Kalman filtering recursive fusion. In addition, the measurement accuracy of the RASS was tested on the triaxial multi-function turntable. The results showed that the RASS could accurately measure the real-time roll angle of paddy field leveler under the condition of static and dynamic test. Under static test conditions, the mean absolute error, root mean square error and maximum error were less than or equal to 0.01°, 0.01°and 0.07°, respectively. Under dynamic testing conditions, the mean absolute error, root mean square error and maximum error were less than or equal to 0.18°, 0.20° and 0.41°, respectively. The RASS provides a low-cost solution of roll angle measurement for the automatic leveling control of leveling machine in paddy field.关键词
倾角/DSP/卡尔曼滤波器/三轴多功能转台Key words
roll angle/DSP/Kalman filtering/the triaxial multi-function turntable分类
农业科技引用本文复制引用
杨伟伟,胡炼,周浩,赵润茂,许奕,林潮兴..基于DSP的水田平地机倾角传感系统设计与试验[J].沈阳农业大学学报,2016,47(3):314-319,6.基金项目
广东省自然科学基金项目(2015A030310292)；“十二五”农村领域国家科技计划项目(2014BAD06B01) （2015A030310292）
