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農(nóng)業(yè)機(jī)械自動(dòng)導(dǎo)航車輪轉(zhuǎn)角測(cè)量誤差補(bǔ)償模型
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國(guó)家高技術(shù)研究發(fā)展計(jì)劃(863計(jì)劃)資助項(xiàng)目(2013AA040403)和“十二五”國(guó)家科技支撐計(jì)劃資助項(xiàng)目(2011BAD20B06)


Compensation Model for Measurement Error of Wheel Turning Angle in Agricultural Vehicle Guidance
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    摘要:

    針對(duì)農(nóng)業(yè)機(jī)械自動(dòng)導(dǎo)航中，把主銷轉(zhuǎn)角當(dāng)作車輪轉(zhuǎn)角來(lái)測(cè)量會(huì)造成測(cè)量誤差的問(wèn)題，通過(guò)對(duì)農(nóng)業(yè)機(jī)械前輪轉(zhuǎn)向結(jié)構(gòu)的分析，建立了一種車輪-主銷轉(zhuǎn)角關(guān)系模型，該模型能夠補(bǔ)償把主銷當(dāng)作車輪轉(zhuǎn)角來(lái)測(cè)量的誤差，提高在農(nóng)業(yè)機(jī)械自動(dòng)導(dǎo)航時(shí)車輪轉(zhuǎn)角的測(cè)量精度。仿真、試驗(yàn)并在雷沃M800型拖拉機(jī)上實(shí)際應(yīng)用表明，該模型具有較好的合理性和準(zhǔn)確性，車輪轉(zhuǎn)角測(cè)量的平均誤差減小了0.48°，最大誤差減小了0.71°，提高了農(nóng)業(yè)機(jī)械自動(dòng)導(dǎo)航系統(tǒng)的性能。

    Abstract:

    A measurement error was caused by using the kingpin turning angle in place of the wheel turning angle in agricultural vehicle guidance. A relation model between the wheel turning angle and the kingpin turning angle was established to compensate the measurement error. Then, a simulation was carried out, showing that the error between the wheel turning angle and the kingpin turning angle increased with the increase of the kingpin inclination. Next, a test was conducted to verify the correctness of the model, and the results showed that the model improved the accuracy of measurement for the wheel turning angle. The mean error decreased by 0.48°, and the maximum error decreased by 0.71°after model compensation．Finally, in practical application, the proposed model improved the performance of agricultural vehicle guidance system.

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王鶴,胡靜濤,高雷.農(nóng)業(yè)機(jī)械自動(dòng)導(dǎo)航車輪轉(zhuǎn)角測(cè)量誤差補(bǔ)償模型[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2014,45(8):33-37. Wang He, Hu Jingtao, Gao Lei. Compensation Model for Measurement Error of Wheel Turning Angle in Agricultural Vehicle Guidance[J]. Transactions of the Chinese Society for Agricultural Machinery,2014,45(8):33-37.

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  • 收稿日期:2013-08-28
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  • 在線發(fā)布日期: 2014-08-10
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