水稻插秧机导航控制器设计与路径追踪仿真研究

摘要

To completely or partially navigate the rice transplanter autonomously, it is necessary to design a effective navigation controller working as an operator to analyze the pose information and make a decision on steering. Based on the driver simulation technology, the heading angle and position deviation were taken as input of the controller, and the expected angle of the turning wheel was taken as output of the controller, the driving experiences of driver were concluded and formulated to make fuzzy control rules, a two dimension fuzzy navigation controller based on the fuzzy control algorithm was designed. Path tracking of the ramp response and step response was simulated with simplified two-wheel vehicle kinematics model, to analyze the ability of tracking the predefined path under control of the two dimension fuzzy controller with MATLAB/Simulink. The path tracking ramp response results showed that the max error was 1.23 m, the track distance was 3.45m, the steady state error was 0.41 m. At the same time, the heading angle overshot MP was 17.5° and the adjustment time ts was 7.15s and the steady state error es was 0.2°. The path tracking step response results showed that the overshot MP was 0.8 m, the adjustment time ts was 30.2s, the steady state error es was 0.5 m. The rice transplanter path tracking simulation results indicated that the steering decision of the two dimension fuzzy controller designed controled the rice transplanter to track predefined path successfully, and the response celerity, accuracy, and stability of control system were good, which provides theoretical support for rice transplanter working autonomously.%为了实现水稻插秧机部分或完全自主行走,需要设计合适的导航控制器代替驾驶员分析插秧机与预定义路径的位姿信息后,决策出转向方向和角度控制插秧机按照预定义路径行走。采用基于驾驶员模拟技术,设计了以航向偏差和横向位置偏差作为输入变量,插秧机转向轮期望转角作为输出变量,总结并模拟驾驶员驾驶经验采用模糊控制算法制定模糊规则,构建二维模糊导航控制器；在MATLAB/Simulink下使用简化的二轮车运动学模型进行路径追踪斜坡响应和阶跃响应仿真研究,分析该二维模糊导航控制器控制水稻插秧机追踪预定义路径能力。仿真结果表明水稻插秧机路径追踪斜坡响应最大误差为1.23m,追踪距离为3.45m,稳态误差为0.41m；在此过程中航向追踪信号的超调量MP为17.5°,调整时间ts为7.15s,稳态误差es 为0.2°。水稻插秧机路径追踪30cm阶跃响应的超调量MP为0.8cm,调整时间ts为30.2s,稳态误差es 为0.5cm。水稻插秧机路径追踪仿真结果说明本研究设计的二维模糊导航控制器的转向决策成功控制水稻插秧机追踪预定义路径,该控制系统响应的快速性、平稳性、精确性均良好,为实现水稻插秧机自主行走提供理论支撑。