【作者】 陈军； 郑天鹏；

【Author】 Chen Jun Zheng Tianpeng(College of mechanical and electric Engineering.Northwest A&F University.Yangling 712100)

【机构】 西北农林科技大学机械与电子工程学院；

【摘要】 为了提高农田作业的生产效率及作业的安全性,本文设计了拖拉机组的主从跟踪控制模型,实现了一个驾驶员可以控制两台拖拉机的目的。系统中采用了基于红外触发的超声波对射式测距原理实现了从动拖拉机对主拖拉机的定位,通过齐次坐标变换将主拖拉机的位置坐标点转换到以从动拖拉机为基准的静态坐标系中,通过最小二乘法拟合出主拖拉机的行驶路径,根据PID控制原理设计了直线路径跟踪控制器。实车实验表明:在0.27m/s的速度下,跟踪拖拉机跟踪先行拖拉机行驶30m的距离,最大的横向偏差为5cm,平均偏差为0.8cm,标准差为2.31。更多还原

【Abstract】 Improvement of the production efficiency and security in the farmland operation has significant meaning.The over goal of this study was to develop a master-slave tracking control system of the tractor capable of realizing a driver control two tractors.The system utilized slave tractor positioning the master,using the ultrasonic bijective ranging theory based on infrared trigger.The position in the master tractor position coordinate was converted to the position in the static coordinate.The driving path of the master was fitted based on the least square method.A path tracking controller based on PID theory was designed.The performance of the system was tested at the travel speed of 0.27m/s,the maximum deviation,the mean deviation and the Standard deviation were 5cm,0.8cm and 2.31cm in the 30m tracking path.更多还原