CAJ | 학술논문

针对传统农机导航控制系统中转向角度传感器安装麻烦、可靠性较低的缺点，采用角速度计作为拖拉机转向动作的反馈传感器，结合拖拉机加装的基于CAN 总线结构的导航控制装置，设计了串级 PID 自动导航控制系统，内环PID控制器用于转向控制，外环PID控制器用于路径跟踪控制。由于角速度计噪声误差较大，为避免对角速度的积分运算引起误差持续累积增大，角速度计的测量数据仅直接用作内环 PID控制器的反馈；外环 PID控制器的控制量也设计为角速度值。因此，在以转向角为控制量的比例控制算法基础上，本文又推导、设计了以角速度为控制量的外环PID控制算法。路面实验结果表明，本文设计的以角速度为转向动作反馈的拖拉机自动导航控制系统，直线路径的稳态跟踪误差平均值约为4．1cm，误差绝对值最大为12．9cm，验证了角速度计在农机导航控制系统中应用的可行性及所提控制方法的正确性。
침대전통농궤도항공제계통중전향각도전감기안장마번、가고성교저적결점，채용각속도계작위타랍궤전향동작적반궤전감기，결합타랍궤가장적기우CAN 총선결구적도항공제장치，설계료천급 PID 자동도항공제계통，내배PID공제기용우전향공제，외배PID공제기용우로경근종공제。유우각속도계조성오차교대，위피면대각속도적적분운산인기오차지속루적증대，각속도계적측량수거부직접용작내배 PID공제기적반궤；외배 PID공제기적공제량야설계위각속도치。인차，재이전향각위공제량적비례공제산법기출상，본문우추도、설계료이각속도위공제량적외배PID공제산법。로면실험결과표명，본문설계적이각속도위전향동작반궤적타랍궤자동도항공제계통，직선로경적은태근종오차평균치약위4．1cm，오차절대치최대위12．9cm，험증료각속도계재농궤도항공제계통중응용적가행성급소제공제방법적정학성。
To counter the defects of complex installation and low reliability of steering angle sensor in the conventional ag -ricultural machine navigation control system , an angular velocity meter used as the Foton TA 800 tractor steering feedback sensor .Navigation control apparatus connected by CAN bus were mounted on the tractor , based on these apparatus , a cascade PID navigation control system was designed .The inner loop PID controller used for steering control , and the out-er loop PID controller used for path tracking control .Because of the comparatively large noise error of the angular velocity meter, integral operation would accumulate the error , to avoid integral operation , the angular velocity only used as the in-ner PID controller feedback .Correspondingly , angular velocity was chosen as the control variable of the outer PID control-ler.Accordingly,based on the proportional control algorithm which used steering angle as the control variable , an outer PID control algorithm which used steering angular velocity as the control variable was proposed .The experimental result indicates,the average tracking error of the straight line is 4.1cm,the maximum tracking error is 12.9cm.Therefore, it is feasible to employ the angular velocity meter as the steering feedback sensor in the agricultural machine navigation control system .