摘要
为减小油菜无人播种作业系统调头产生的未作业区域面积,提高作业行切换对行精度,提出一种两退三切鱼尾调头自动控制方法。基于CaseTM1404型拖拉机、北斗RTK和2BFQ-8型油菜精量直播机构建了一套油菜无人播种作业系统。根据该系统参数,定量分析了3种鱼尾调头模型的路径几何关系,以田头未作业区域面积最少和对行精度最优为目标生成鱼尾调头路径,基于几何模型和运动学模型设计了改进的模糊自适应纯追踪控制器,依据该控制器结合油菜精量直播机播种规范构建了控制策略。开展了3种鱼尾调头模型田头未作业区域面积仿真,仿真结果表明,两退三切鱼尾调头模型相对于传统鱼尾调头模型田头未作业区域面积减少14.62%~22.43%。运用该调头方法开展了田间无人播种作业试验,试验结果表明:两退三切鱼尾调头方法较传统鱼尾调头方法初始横向偏差减小7.37~8.08 cm,上升时间减少1.3~2.3 s,无人作业对行精度为1.48 cm。该研究为油菜无人播种作业过程中的梭行路径调头换行方法提供了技术支撑。
As one of the important parts in the intelligent construction of the whole rapeseed industrial chain,the unmanned seeding operation of rapeseed can greatly improve the operation accuracy and labor production efficiency,and achieve the effect of reducing costs and improving efficiency.The middle and lower reaches of the Yangtze River are the main producing areas of winter rapeseed in China.In the process of unmanned seeding operation,linear navigation is the main method,and field U-turn and line-feed play a key linking role,and the U-turn path planning and controlling effect directly affect the line-to-line accuracy.Affected by the land and previous crops in Southern China,especially in the rice-oil rotation area in the middle and lower reaches of the Yangtze River,the land scale is small and the soil is sticky.The unmanned planting operation process is complicated at the head of the field,and the U-turn is easy to slip when making the U-turn,and it is easy to produce deviation after changing the line.The tractor start the next row of seeding operations before it goes on the working line,resulting in poor row alignment accuracy and the phenomenon of replay and missed seeding,which directly affects the quality of rapeseed seeding operations.Aiming at the problems of complex line-feeding and poor accurate line-to-line ability of tractor navigation during unmanned seeding operation,a two-back and three-cut fishtail U-turn model was proposed to find the line.Analyzing the characteristics of unmanned seeding operation and equipment characteristics of the rapeseed direct seeding unit,and taking quantitative analysis in the line-hunting path at the U-turn at the field head,a set of rapeseeds unmanned seeding operation system was constructed,the main parts included CaseTM1404 tractor,Beidou high-precision positioning system,angle sensor,vehicle controller,CAN analyzer,industrial computer,electronically controlled steering wheel and rapeseed precision seeder.The simulation test of three kinds of fishtail turning models was carried out.The results showed that the area of the non operating area of the two-back and three-cut fishtail U-turn model was reduced by 14.62%~22.43%compared with the traditional fishtail U-turn model.The field unmanned seeding operation experiment of the model controller was carried out,and the results showed that the initial offset distance and rising time of the two-back and three-cut fishtail U-turn model was reduced by 7.37~8.08 cm and 1.3~2.3 s compared with that of the traditional fishtail U-turn model,and the operation alignment accuracy was 1.48 cm.This research result had guiding value for the comb-path U-turn operation during unmanned seeding operation of rapeseed.
作者
张朝宇
卢邦
李强
王登辉
熊子庆
丁幼春
ZHANG Chaoyu;LU Bang;LI Qiang;WANG Denghui;XIONG Ziqing;DING Youchun(College of Engineering,Huazhong Agricultural University,Wuhan 430070,China;Key Laboratory of Agricultural Equipment in Mid-lower Yangtze River,Ministry of Agriculture and Rural Affairs,Wuhan 430070,China)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2022年第10期66-75,共10页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家重点研发计划项目(2021YFD2000402、2021YFD2000402-3)
湖北省重点研发计划项目(2021BBA080)
关键词
油菜
无人播种作业
调头模型
控制策略
rapeseed
unmanned seeding operation
U-turn model
control strategy
