Optimization of Path Tracking System of the Plant Protection Machine Based on CDIO Mechanism
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摘要: 为进一步提高农业无人植保机的作业运行效率,以CDIO设计理念为依托,针对其路径追踪系统进行优化设计。以构思、设计、实施、运行为主体思路,在理解植保机的路径控制及动力原理的基础上,设计CDIO机理下植保机路径追踪实施步骤,建立路径追踪控制模型。同时,从目标追寻与路径避障入手,对植保机路径追踪系统进行硬件配置,并采取嵌入式路径追踪系统软件控制。进行路径追踪系统运行试验,结果表明:以路径误差、避障成功率及整机作业效率等为主要评价参数,在同等试验条件下,基于CDIO设计机理植保机的整机作业效率可提高6.19%,作业路径追踪误差小于6.5%,避障成功率可提高10.92%。该设计思路具有一定的创新性,可为植保机的优化提供参考。Abstract: In order to further improve the operational efficiency of agricultural unmanned plant protection machine, the CDIO design concept was selected as the basis for the optimization design of its path tracking system. Based on the idea of conception, design, implementation and operation, and on the basis of understanding the path control and power principle of plant protection machine, the progress steps of implementation of path tracking of plant protection machine under CDIO mechanism was designed, and the path tracking control model was established. Starting with target tracking and path obstacle avoidance, the hardware of the plant protection machine path tracking system was configured, the embedded path tracking system software control was adopted, then the running test of the path tracking system was carried out.The results show that path error, success rate of obstacle avoidance and operation efficiency of the whole machine were selected as the main evaluation parameters, under the same test conditions, based on CDIO design mechanism, the operation efficiency of plant protection machine could be increased by 6.19%, the tracking error of operation path was less than 6.5%, and the success rate of obstacle avoidance could be increased by 10.92%. The design idea would be innovative and provide reference for the optimization of plant protection machine.
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