农业机械学报2026，Vol.57Issue(1)：30-40,11.DOI:10.6041/j.issn.1000-1298.2026.01.003
基于双前馈-改进串级PID的设施蔬菜表型信息采集稳衡云台设计与试验
Design and Experiment of Stabilized Platform for Vegetable Phenotype Acquisition Based on Double Feedforward-Improved Cascade PID in Greenhouse
摘要
Abstract
In greenhouse vegetable phenotyping,uneven terrain induces high-frequency vibrations in the 3～6 Hz range,leading to small-angle vibration and hysteresis in the acquisition device,which degraded the resolution of collected images.A stabilized platform was developed based on a composite control system incorporating gravity-compensated dual angular acceleration feedforward and an improved cascade PID controller.A single-arm stabilized platform with dimensions of 300 mm×280 mm×250 mm was constructed to accommodate a narrow line spacing of 30 cm and support the integration of multi-source sensors.The stabilized platform had a self-weight of 5 kg and can carry a payload of 15 kg.It was equipped with X-Y-Z axis sliding rails for center-of-gravity adjustment,limiting the center-of-gravity deviation to within±5 mm and maintaining gravitational torque variation below 0.5 N·m.A gravity compensation feedforward model was established by linear fitting,achieving a determination coefficient R2 of 0.9912.An improved cascade PID structure was implemented,combining an inner velocity loop with an outer position loop.Key enhancements included integral separation activated when the error exceeded 1°,integral limiting,and a resetting mechanism triggered by error zero-crossing.These measures effectively suppressed integral saturation during fine adjustments,achieved a steady-state error of 0.1°.In addition,angular acceleration feedforward from dual IMUs mounted on both the vehicle and the stabilized platform compensated for inertial disturbances caused by vehicle start-stop and turning accelerations of 2～3 m/s2.The verification test results showed that the composite control strategy reduced the system step response time by 80%without overshoot.When the vehicle operated at 0.5 m/s,the stabilized platform's triaxial angular oscillation was constrained to±0.5° in roll,±0.3° in pitch,and±0.2° in yaw.These outcomes confirmed that the system satisfied the requirements for high-accuracy phenotyping acquisition.关键词
设施蔬菜/表型信息/稳衡云台/双前馈/串级PIDKey words
greenhouse vegetable/phenotypic information/stabilized platform/double feedforward/cascade PID引用本文复制引用
YU Haiye,ZHANG Nan,PAN Zhihao,FU Hanbing,ZHANG Chenxi,JIANG Ranzhe,ZHANG Lei..基于双前馈-改进串级PID的设施蔬菜表型信息采集稳衡云台设计与试验[J].农业机械学报,2026,57(1):30-40,11.基金项目
国家重点研发计划项目(2022YFD2002305-2) （2022YFD2002305-2）
