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無人駕駛電動拖拉機犁耕機組路徑跟蹤與耕深模糊控制策略研究
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Fuzzy Control Strategy for Path Tracking-Tillage Depth of Unmanned Electric Tractor Ploughing Unit
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    摘要:

    田間土壤比阻多變、地塊凹凸不平造成拖拉機在犁耕工況下行駛速度和牽引阻力大幅波動,傳統拖拉機無人作業系統難以滿足路徑跟蹤精度和耕深均勻性的農藝要求。本文系統分析了無人駕駛電動拖拉機犁耕機組作業特性,提出了拖拉機犁耕機組路徑跟蹤與耕深模糊控制策略,包括模糊Stanley路徑跟蹤控制方法和預估補償變論域模糊PID耕深控制方法,兼顧了拖拉機重負載犁耕工況下的犁耕深度與行駛速度,提高了電液懸掛系統的耕深均勻性和無人駕駛系統的直線性。為驗證所提控制策略的有效性,搭建無人駕駛電動拖拉機犁耕機組試驗平臺,開展田間路徑跟蹤和犁耕試驗。試驗結果表明:本文提出的控制策略能適應復雜多變的田間環境,路徑跟蹤作業最大橫向偏差不大于0.042m,犁耕作業橫向偏差標準差不大于0.086m;行駛速度均值保持穩定,平均絕對誤差為0.16km/h,平均相對誤差為4.38%;耕深變異系數均值為9.29%,相較于模糊PID算法降低14.57%。本文提出的控制策略可根據不同土壤比阻、地塊凹凸程度和牽引阻力,提高拖拉機犁耕作業的耕深均勻性和導航直線性,具有良好的適應性和魯棒性,滿足拖拉機犁耕作業農藝需求,為實現無人駕駛電動拖拉機多參數控制提供了參考。

    Abstract:

    Variable specific resistance of field soil and unevenness of the plot cause the tractor driving speed and traction resistance to fluctuate greatly under the ploughing condition, and the traditional unmanned tractor operation system is difficult to meet the agronomic requirements of path tracking accuracy and ploughing depth uniformity. The operation characteristics of unmanned electric tractor ploughing unit were systematically analyzed, and a fuzzy control strategy for tractor ploughing unit path tracking and ploughing depth was proposed, including the fuzzy Stanley path tracking control method and the predictive compensation variable-domain fuzzy PID ploughing depth control method, which took into account the ploughing depth and driving speed under the ploughing condition of the tractor with heavy loads, and improved the ploughing depth uniformity and the straightness of unmanned system of electro-hydraulic suspension. In order to verify the effectiveness of the proposed control strategy, a test platform for the ploughing unit of unmanned electric tractor was set up to carry out field path tracking and ploughing tests. The test results showed that the control strategy proposed can adapt to the complex and variable field environment, the maximum lateral deviation of the path tracking operation was no more than 0.042m, and the standard deviation of lateral deviation of ploughing operation was no more than 0.086m; the mean value of the driving speed remained stable, with an average absolute error of 0.16km/h and an average relative error of 4.38%;the mean value of the coefficient of variation of ploughing depth was 9.29%, which was 14.29% lower than that of the fuzzy PID algorithm. A control strategy proposed can enhance the ploughing depth uniformity and navigation linearity of tractor ploughing operation on the basis of different soil specific resistance, the degree of concavity and convexity of the plot, and the magnitude of traction resistance, with excellent adaptability and robustness to satisfy the agronomic requirements of tractor ploughing operation, which provided a reference for the implementation of the multiparameter control of the unmanned electric tractor.

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陳仲舉,謝斌,羅振豪,劉楷東,張勝利,溫昌凱.無人駕駛電動拖拉機犁耕機組路徑跟蹤與耕深模糊控制策略研究[J].農業機械學報,2024,55(12):491-504. CHEN Zhongju, XIE Bin, LUO Zhenhao, LIU Kaidong, ZHANG Shengli, WEN Changkai. Fuzzy Control Strategy for Path Tracking-Tillage Depth of Unmanned Electric Tractor Ploughing Unit[J]. Transactions of the Chinese Society for Agricultural Machinery,2024,55(12):491-504.

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  • 收稿日期:2024-01-19
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  • 在線發布日期: 2024-12-10
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