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农业装备自动控制技术研究综述

Research Review of Agricultural Equipment Automatic Control Technology

  • 摘要: 随着信息与控制理论的发展,自动化控制技术在农业装备领域广泛应用,促进农业生产的智能化、现代化与规模化。运动控制和作业控制是智能农机自动控制技术的两大核心内容,为无人农机在复杂环境下的高精度自主导航安全行驶和精准作业提供保障。速度控制与转向控制是智能农机运动控制的基础,导航跟踪控制是智能农机运动控制的主要内容。本文阐述了智能农机速度控制与转向控制的研究进展,总结归纳了基于几何模型、基于运动学模型和不依赖于模型的自动导航跟踪运动控制方法。然后,着重分析了智能农机在耕、种、管、收等各环节的作业机构控制以及多机协同作业控制方法。最后,指出构建更加精准的农机数学模型,研究面向复杂场景的先进底盘运动控制技术,发展人工智能与控制理论深度融合的农机控制技术以及提升农机农艺相结合的多机协同控制技术是未来智能农机自动控制技术的发展方向。

     

    Abstract: With the advancement of information and control theory, automatic control technology has been extensively applied in the realm of agricultural machinery. This has significantly enhanced the intelligence, modernization, and scalability of agricultural production. The two central components of intelligent agricultural machinery’s automatic control technology are motion control and operation control. These elements ensure safe navigation and precise operation of unmanned agricultural machinery in complex environments. The research progress in speed control and steering control of intelligent agricultural machinery was discussed, which formed the foundation of its motion control. Additionally, navigation tracking control was highlighted as a crucial aspect of intelligent agricultural machinery’s motion control. A comprehensive summary of automatic navigation tracking motion control methods was also provided based on geometric models, kinematics models, and model-independent methods. The control mechanisms of intelligent agricultural machinery during various stages such as cultivation, planting, management, and harvesting were further analyzed. It particularly focused on the multi-machine cooperative operation control method. In conclusion, it was suggested that future developments in the automatic control technology of intelligent agricultural machinery should focus on constructing more precise mathematical models of agricultural machinery, researching advanced chassis motion control technology for complex scenarios, developing agricultural machinery control technology that deeply integrates AI and control theory, and enhancing multi-machine collaborative control technology that combines agricultural machinery and agronomy.

     

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