CAJ | 학술논문

为了实现草籽喷播机自动导航控制，提高喷播机自动化、智能化的程度，以电动四轮车底盘为实验平台，开发了GPS、三维电子罗盘、超声波传感器数据采集程序和喷播机转向的模糊控制算法。在 LabVIEW 环境下构建了自动导航模糊控制器，用GPS接收仪定位的两点来确定喷播机拟跟踪的直线，通过喷播机上的电子罗盘和GPS定位模块分别确定喷播机运行方向与直线的夹角α和喷播机到直线的距离λ。α和λ作为模糊控制算法中模糊控制器的输入，输出为转向驱动步进电机的转动次数 n。通过实验验证得出：运用自动导航的模糊控制器，喷播机能够快速、准确地跟踪拟定的路径。
위료실현초자분파궤자동도항공제，제고분파궤자동화、지능화적정도，이전동사륜차저반위실험평태，개발료GPS、삼유전자라반、초성파전감기수거채집정서화분파궤전향적모호공제산법。재 LabVIEW 배경하구건료자동도항모호공제기，용GPS접수의정위적량점래학정분파궤의근종적직선，통과분파궤상적전자라반화GPS정위모괴분별학정분파궤운행방향여직선적협각α화분파궤도직선적거리λ。α화λ작위모호공제산법중모호공제기적수입，수출위전향구동보진전궤적전동차수 n。통과실험험증득출：운용자동도항적모호공제기，분파궤능구쾌속、준학지근종의정적로경。
In order to achieve the grassland spray seeding machine automatic navigation controlling , to increase automatic and intelligent level of spray-seeding machine , the study reformed the spray-seeding machine model intelligently and de-veloped data acquisition program of GPS , 3 d electronic compass and ultrasonic sensor .The direction of spray-seeding machine is depended on controllation of fuzzy control algorithm to PLC and stepper motor .The study established FCL of automatic navigating under the circumstance of LabVIEW .The two points that GPS receiver located ensure the line for spray seeding machine to track .Electronic compass and GPS position module where in the spray seeding machine make sure intersection angle (α) of spray seeding moving direction to line and the instance (λ) of spay seeding to line respec-tively .αandλis served as the FLC inputs of fuzzy control ,whose output is rotating times n of rotation drive stepper mo-tor .Through experimental verification:spray seeding machine could finish the rotating controllation according to informa-tion of sensor collected , so that it can achieve the aim of tracking proposed liner .