基于双天线GPS接收机的麦冬收获机自动水平系统的研制(英文)
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摘要
麦冬是一种生长在浙江的中草药,通常被种植在畦装的土地中。在收获麦冬时如果牵引的拖拉机不小心落入畦沟中,则三点悬挂的麦冬收获机的杆件易被拉断。为解决这一问题,本文研发出了一种自动水平控制系统,它由总控制器、电子控制单元(electronic control unit, ECU)、双天线GPS接收机、拉绳传感器、油缸和液压阀组成,可使收获机一直处于水平姿态。总控制器先后采集到拖拉机的横滚角、油缸的位移量,估算出收获机的横滚角。采用比例微分(proportion integration differentiation, PID)控制算法产生液压阀的控制量。在麦冬田中的试验结果显示,左、右点之间的高程差是1.04 cm,标准差是2.39 cm,收获机可一直保持水平姿态,其构件没有再次断裂。
Ophiopogon japonicus, a kind of local herbal remedies in Zhejiang, is usually grown on rectangular pieces of land. In harvesting season of O. japonicus when a tractor accidentally falls into any furrows, mechanical parts of the tuber harvester hitched behind are prone to break. To solve this problem, an automated leveling system,consisted of a field computer, an electronic control unit(ECU), a dual-antenna GPS receiver, a rope-type sensor, a cylinder, and a hydraulic valve, was developed and tested so that the harvester remained level. The computer got rolling angle of the tractor and displacement of the cylinder in sequence, and then deduced rolling angle of the harvester. The system employed a proportion integration differentiation(PID) algorithm to calculate control quantity of the valve. The experimental results conducted in the fields of O. japonicus showed that the average elevation difference of the left and right points was 1.04 cm, and the standard deviation was 2.39 cm. Therefore, the harvester could remain horizontal all the time, and its mechanical fracture would not happen again.
Ophiopogon japonicus, a kind of local herbal remedies in Zhejiang, is usually grown on rectangular pieces of land. In harvesting season of O. japonicus when a tractor accidentally falls into any furrows, mechanical parts of the tuber harvester hitched behind are prone to break. To solve this problem, an automated leveling system,consisted of a field computer, an electronic control unit(ECU), a dual-antenna GPS receiver, a rope-type sensor, a cylinder, and a hydraulic valve, was developed and tested so that the harvester remained level. The computer got rolling angle of the tractor and displacement of the cylinder in sequence, and then deduced rolling angle of the harvester. The system employed a proportion integration differentiation(PID) algorithm to calculate control quantity of the valve. The experimental results conducted in the fields of O. japonicus showed that the average elevation difference of the left and right points was 1.04 cm, and the standard deviation was 2.39 cm. Therefore, the harvester could remain horizontal all the time, and its mechanical fracture would not happen again.
引文
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[3]李革,章铁成,王益新.前置式拖拉机悬挂机组水平自动控制装置:CN205179666U.2016-02-24.LI G,ZHANG T C,WANG Y X.Automatic leveling control device for suspension unit of tractor:CN205179666U.2016-02-24.(in Chinese)
[4]魏新华,邵菁,缪丹丹,等.喷杆式喷雾机喷杆高度及平衡在线调控系统.农业机械化学报,2015,46(8):66-71.WEI X H,SHAO J,MIAO D D,et al.Online control system of spray boom height and balance.Transactions of the Chinese Society for Agricultural Machinery,2015,46(8):66-71.(in Chinese with English abstract)
[5]LU G,LACHAPELLE G,CANNON M E,et al.Attitude determination in a survey launch using multi-antenna GPStechnology.Proceedings of the 1993 National Technical Meeting of the Institute of Navigation,San Francisco,CA.[S.l.]:[s.n.],1993:251-259.
[6]HAYWARD R,MARCHICK A,POWELL J D.Two antenna GPS attitude and integer ambiguity resolution for aircraft application.Proceedings of the 1999 National Technical Meeting of the Institute of Navigation,San Diego,CA.[S.l.]:[s.n.]1999:155-164.
[7]胡晓清,尚修香.采用双天线GPS/INS系统的汽车侧偏角和轮胎侧偏刚度估测法.河北科技大学学报,2011,32(1):92-97.HU X Q,SHANG X X.Estimation of sideslip angle and tire cornering stiffness of vehicle with two-antenna GPS/INSmeasurement system.Journal of Hebei University of Science and Technology,2011,32(1):92-97.(in Chinese with English abstract)
[8]张建霞.基于GPS双天线测量的旋偏角自动纠正系统设计.江南大学学报(自然科学版),2011,10(2):188-191.ZHANG J X.System design of auto-rectify of the yaw angle based on GPS surveying with double-antennas.Journal of Jiangnan University(Natural Science Edition),2011,10(2):188-191.(in Chinese with English abstract)
[9]阎肖鹏,王海涛.基于两台双天线GPS测向单元的靶船测姿方法.舰船电子工程,2012,32(5):65-67.YAN X P,WANG H T.Method of target ship’s attitude determination based on double two-antenna GPS vector module.Ship Electronic Engineering,2012,32(5):65-67.(in Chinese with English abstract)
[10]丁传炳,卞伟伟,李海滨.基于GPS双天线的弹体姿态测量方法.探测与控制学报,2017,39(5):26-30.DING C B,BIAN W W,LI H B.Missile attitude measurement method based on GPS double antenna.Journal of Detection and Control,2017,39(5):26-30.(in Chinese with English abstract)