太阳能渠道式喷灌机自主导航研究

Autonomous Navigation of Solar Energy Canal Feed Sprinkler Irrigation Machine

摘要:

以自行研制的太阳能渠道式多喷头喷灌机为试验平台，利用偏角传感器和电子罗盘进行农业机械装备的自动导航研究。增加了喷灌机精准灌溉控制系统、喷洒域可控系统，实现了喷灌机的自动控制。根据偏角传感器、电子罗盘和车轮转速传感器获取的喷灌机姿态信息，构建了喷灌机自主导航模糊控制器。喷灌机通过调节两侧驱动轮转速差的方式实现转向闭环控制，完成了喷灌机沿渠道的自动行走，并进行了导航跟踪试验。试验结果表明，喷灌机在以0.5m/min和1.0m/min速度进行自主导航过程中均能消除横向偏差，具有一定的精度和可靠性，可满足喷灌机作业使用要求。

Abstract:

In view of the planting characteristics which are mainly consisted of small farmers and some large growing farmers in China, the solar energy technology was combined with spray irrigation technology together. In addition, a light and small solar energy canal feed sprinkler irrigation machine was developed. An autonomous navigation system was developed on selfdeveloped solar energy canal feed sprinkler machine. Under different working conditions, angle sensor and electronic compass were adopted for the autonomous navigation test. The precision irrigation control system and spraying domain control system were integrated to realize automatic control of sprinkler machine. According to the attitude information of the sprinkler machine acquired from angle sensor, electronic compass and wheel speed sensor, a fuzzy controller for autonomous navigation was built. By adjusting the speed of driving wheels on both sides, a closeloop feedback control system of steering was also built. Besides, to verify the navigation accuracy of the system, a tracking experiment was carried out. The results indicated that the lateral tracking error could be well eliminated with travelling speeds of 0.5m/min and 1.0m/min, which showed that the sprinkler machine was provided with high reliability and stability. In other words, the control system can well meet the demand of spraying work.