Design and Experiment of Auto-follow Row System for Corn Harvester

被引：0
|
作者：
Zhang K. [1 ]
Hu Y. [1 ]
Yang L. [1 ]
Zhang D. [1 ]
Cui T. [1 ]
Fan L. [1 ]
机构：
[1] College of Engineering, China Agricultural University, Beijing
来源：
Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery | 2020年 / 51卷 / 02期
关键词：
Auto-follow row system; Corn combine harvester; Fuzzy control; Laser radar; Mechanical sensor; Pure pursuit model;
D O I：
10.6041/j.issn.1000-1298.2020.02.012
中图分类号：
学科分类号：
摘要：
In order to improve the alignment quality of corn harvester and reduce the driver's labor intensity, an auto-follow row system of corn harvester was designed, which included sensing system and path tracking control system. The sensing system consisted of laser radar, mechanical sensor using for auto-follow row system and gyroscope. The lateral deviation between harvester and corn boundary line was detected by laser radar when the harvester moved to corn field, and the lateral deviation was detected by mechanical sensor during harvesting operation, and the heading angle was detected by gyroscope. Pure pursuit model was used as the control method of path tracking, and the forward-looking distance of pure pursuit model was dynamically adjusted by fuzzy control. The desired steering angle was determined by the kinematics model of the harvester. The model was simulated and analyzed by Matlab/Simulink. The 4YZ-6 corn harvester with auto-follow row system was tested in the field and the results were as follows: the average deviation of laser radar static detection test was 0.077 5 m, the average standard deviation was 0.130 9 m, and the proportion of deviation between -15 cm and 15 cm was 80.5%,and the proportion of deviation between -30 cm and 30 cm was 95%; the average adjustment distance of auto-follow row test based on laser radar was 7.89 m, the average deviation was 0.146 m; in auto-follow row test based on mechanical sensor, the average deviation was 0.087 6 m and average standard deviation was 0.097 6 m, the proportion of deviation between -15 cm and 15 cm was 83.1%, and the proportion of deviation between -30 cm and 30 cm was 100%. The test results met the requirements of auto-follow row of corn harvester, and provided theoretical support for corn harvester's auto-follow row. © 2020, Chinese Society of Agricultural Machinery. All right reserved.
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页码：103 / 114
页数：11
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