农业机械学报2017，Vol.48Issue(2)：45-50,6.DOI:10.6041/j.issn.1000-1298.2017.02.006
基于BDS的果园施药机自动导航控制系统
Navigation Control System for Orchard Spraying Machine Based on Beidou Navigation Satellite System
摘要
Abstract
According to the demand of automatic navigation of orchard spraying machine,a navigation control system for spraying robot based on Beidou navigation satellite system (BDS)was designed.The system included RTK-BDS receiver,navigation controller,steering controller,electro pneumatic steering system,three dimensional electronic compass.The closed control loop of steering angle was composed of steering controller,electro pneumatic steering system,three dimensional electronic compass.The closed loop could realize the servo control of steering angle according to control command from navigation controller.The kinematics and dynamics models of spraying machine were analyzed and a look-ahead dynamic path search model was established.The input of the look-ahead dynamic path search model was lateral tracking error and the output was steering angle from navigation controller.Navigation path planning on the spraying machine was designed according to the characteristics of the orchard,and field tests were carried out in the orchard.The tests were done at different traveling speeds,which showed the offset error became bigger with the increase of traveling speed and the traveling speed of 2 km/h was the optimal speed for quick steering speed and small offset error.The field tests showed that the maximum offset error was no more than 0.13 m and the average offset error was no more than 0.03 m for straight tracking at the traveling speed of 2 km/h.The field tests indicated that the navigation control method was appropriated to orchard spraying machine.关键词
果园/施药机/自动导航/控制系统/北斗卫星导航系统Key words
orchard/spraying machine/automatic guidance/control system/Beidou navigation satellite system分类
农业科技引用本文复制引用
熊斌,张俊雄,曲峰,范智棋,王大帅,李伟..基于BDS的果园施药机自动导航控制系统[J].农业机械学报,2017,48(2):45-50,6.基金项目
国家高技术研究发展计划(863计划)项目(2012AA041507)和“十二五”国家科技支撑计划项目(2015BAD23B02) （863计划）
