基于能耗模型与HHO算法的混动采棉机作业路径规划

Hybrid Cotton Picker Operation Path Planning Based on Energy Consumption Model and HHO Algorithm

摘要:

为解决在新疆棉田环境下混动采棉机作业路径难以实地规划，优化混动采棉机在各棉田块中不同行驶角度下作业能耗，以及其在棉田块间转移序列差异化导致的能耗浪费等问题，本文研究了一种基于能耗模型与哈里斯鹰优化(Harris hawks optimization，HHO)算法的作业路径规划方法。通过易于获取的高精度电子地图结合采棉机在棉田块边界处采收需求，构建并校准符合实际作业需求的棉田模型。分析混动采棉机动力特性及整机参数，并考虑转弯模式与能耗量化关系，构建以作业总能耗为优化目标的棉田块内混动采棉机作业能耗模型。引入基于距离矩阵的贪婪启发式策略及非线性能量衰减因子解决哈里斯鹰优化算法在求解转移序列时存在的原生缺陷，合理消除转移序列中冗余路径产生的能耗浪费。试验结果表明，加入能耗模型后混动采棉机作业能耗降低率达42.80%、路径长度降低率达51.13%、生产效率提升率达44.02%;改进HHO算法后求解的转移序列路径降低率达6.13%，验证了所提作业路径规划方法的有效性。

Abstract:

In order to solve the problems of difficult on-site planning of the hybrid cotton picker's operation paths in the cotton field environment in Xinjiang, optimize the operation energy consumption of the hybrid cotton picker under different driving angles in each cotton field, as well as the waste of energy consumption caused by the differentiation of their transfer sequences between cotton fields, a method of operation path planning based on energy consumption model and Harris hawks optimization algorithm was investigated. The cotton field model that met the actual operation requirements was constructed and calibrated by combining the easily accessible high-precision electronic map with the harvesting requirements of the cotton picker at the boundary of the cotton field. The dynamic characteristics and machine parameters of the hybrid cotton picker were analyzed, and the quantitative relationship between the turning mode and energy consumption was considered to construct the operation energy consumption of the hybrid cotton picker in the cotton field with the operation direction angle as the only optimization target. The greedy heuristic strategy based on the distance matrix and the nonlinear energy attenuation factor were introduced to solve the original defects of the Harris hawks optimization algorithm in solving the transfer sequence, and the energy waste caused by the redundant paths in the transfer sequence was reasonably eliminated. Experimental results showed that the hybrid cotton picker's operating energy consumption was reduced by 42.80%, the path was reduced by 51.13%, and the production efficiency was increased by 44.02% after the energy consumption model was added;the improved HHO algorithm reduced the path length of the transition sequence by 6.13%, which verified the good effect of the proposed operation path planning method.