农业机械学报2024，Vol.55Issue(2)：28-35,89,9.DOI:10.6041/j.issn.1000-1298.2024.02.003
农田耕整载荷六维力传感器结构优化与解耦研究
Structural Optimization and Decoupling of Six Dimensional Force Sensor for Farmland Tillage Load
摘要
Abstract
Aiming at the problems of large plowing load and low measurement accuracy,a six dimensional force sensor of radial beam type was designed on the basis of classical cross beam structure,which could measure force and moment at the same time.The sensor structure was optimized by simulation method,and the dimension length,width and height of strain beam were determined to be 9 mm,10 mm and 6 mm,respectively.The strain capacity of the sensor structure under load was analyzed,and the position of the strain gauge patch was determined.Based on the calibration data,the improved XGBoost(extreme gradient boosting)machine learning network was used to decouple the force signal.The improved XGBoost model achieved R2P(determination coefficient of test set)of 0.980 4,0.941 8,0.943 4,0.986 8,0.996 9,and 0.982 2 in six loading modes of force and torque in X,Y and Z directions,respectively.The prediction performance was good,avoiding getting stuck in local optimal solutions.And then compared with the conventional network,the R2P and MAEP(average absolute error of test set)of the improved XGBoost model in the six dimensional force loading direction were significantly better than that of the random forest model and the traditional multiple linear regression.Compared with the traditional multiple linear regression method,the R2P of the six dimensional loading force/moment was increased by 22.57％,20.99％,23.32％,26.27％,26.05％and 18.72％,respectively.Machine learning based decoupling algorithms could significantly reduce the impact of coupling errors and improve the measurement accuracy of sensors and provide technical support for optimizing agricultural machinery.关键词
农田耕整载荷/辐梁式传感器/结构优化/解耦算法/机器学习Key words
farmland tillage load/radial beam sensor/structural optimization/decoupling algorithm/machine learning分类
农业科技引用本文复制引用
陈伟,张晓,袁栋,朱继平,陈小兵,曹光乔..农田耕整载荷六维力传感器结构优化与解耦研究[J].农业机械学报,2024,55(2):28-35,89,9.基金项目
国家重点研发计划项目(2022YFD2301302-5)、财政部和农业农村部:国家现代农业产业技术体系项目(CARS-05)和西藏自治区重大科技专项(XZ202101ZD0004-04) （2022YFD2301302-5）
