作　　者： ; ; ; ; ; ;

机构地区： 华南农业大学工程学院南方农业机械与装备关键技术省部共建教育部重点实验室

出　　处： 《农业工程学报》 2009年第4期118-122,共5页

摘　　要： 为了进行农业机械导航和变量作业试验研究,以久保田SPU-68型插秧机为试验平台,对插秧机转向机构、变速机构和插秧机具升降机构进行了改造,实现自动控制。采用小功率直流电机为动力,设计了带双阈值死区的PD电机位置控制算法。转向操纵机构导向信号跟踪试验及与驾驶员操作的对比试验结果表明,转向系统具有良好的响应特性,电控操作装置控制作业效果与驾驶员操作作业效果相当。 To study agricultural machine navigation and variable operation, the steering, transmission and transplanting control system of a Kubota rice transplanter were modified from manual control system to electronic control system using DC motors. A dynamic dead zone control algorithm was designed with varied dead zones for different movement direction to increase the stability of the dynamic position closed loop control. The tracing experiment results showed that the dynamic responsive performance of the modified steering control system was good. The field experiment results indicated that the rice transplanter controlled by the electronic control system worked as well as driven by a human driver in paddy field.

关 键 词： 插秧机 自动导航 电机位置控制 双阈值死区

领　　域： [农业科学] [农业科学]