摘要
针对目前市场上的果园割草机难以高效清除果树株间的杂草问题,设计了搭载在果园自动避障割草机上的4自由度的除草作业臂,可实现拖拉机牵引割草机行驶在果树行间时机械臂对定点位置的清除和行驶过程中的避障作业。同时,进行逆运动学分析,把工作空间的避障问题映射到关节空间中,转化为关节空间的轨迹规划求解问题,利用三项插值法规划出轨迹;建立除草机械臂动力学模型,利用遗传算法优化模糊PID控制的模糊规则和隶属函数,优化出最优规则和隶属函数,通过模糊PID控制器实现对规划路径的精准轨迹跟踪控制。仿真结果表明:与传统PID和模糊PID控制对比,该控制方法控制更加精确。
Aiming at the problem that the current orchard mowers on the market are difficult to efficiently remove the weeds between the fruit trees,a 4-degree-of-freedom weeding arm mounted on the orchard automatic obstacle avoidance mower is designed to enable the tractor to pull the mower.When tractor is working between fruit trees,weeding arm can clear the aim point position and avoids obstacles during driving.Mapping the obstacle avoidance problem in the working space to the joint space with kinematics analysis.And transforming it into a trajectory planning and solving problem in the joint space with using the trinomial interpolation method to plan the trajectory.This paper established the dynamic model of the mechanical arm,and used the genetic algorithm to optimize the fuzzy PID Control fuzzy rules and membership functions.It optimized the best rules and membership functions,and used fuzzy PID controllers to achieve precise trajectory tracking control of the planned path.Compared with traditional PID and fuzzy PID control,the simulation results show that the control method is more accurate.
作者
夏长高
杨鹏程
韩江义
孙陈曦
冒志恒
Xia Changgao;Yang Pengcheng;Han Jiangyi;Sun Chenxi;Mao Zhiheng(School of Automobile and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China)
出处
《农机化研究》
北大核心
2022年第12期15-21,共7页
Journal of Agricultural Mechanization Research
基金
江苏省科技计划重点研发(现代农业)项目(BE2018343-1)。
关键词
除草机械臂
模糊PID
遗传算法
轨迹跟踪
运动学分析
动力学建模
weeding manipulator arm
fuzzy PID
genetic algorithm
trajectory tracking
kinematics analysis
dynamic modeling
