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当前位置: 首页 > 文章 > 水草全自动清理船控制系统 农业机械学报 2014 (1) 281-286
Position: Home > Articles > Control System for Automatic Aquatic Plant Cleaning Ship Transactions of the Chinese Society for Agricultural Machinery 2014 (1) 281-286

水草全自动清理船控制系统

作  者：
刘会贵;赵德安;孙月平;张军;吴波
单  位：
机械工业设施农业测控技术与装备重点实验室;江苏大学电气信息工程学院
关键词：
河蟹养殖;水草清理船;GPS;导航
摘  要：
为了满足河蟹养殖对水草定期修剪清理的要求以及提高水草收割的效率,设计了一种基于ARM的中小型智能化GPS自主导航的水草清理船,阐述了其割收一体化的机械结构与工作原理,以及无舵明轮推进器、回旋式切割装置、割深自动调节器的结构特点。采用智能移动机器人PI与PD控制和高精度GPS导航控制等技术,设计了其GPS自主导航控制系统。实验结果表明,该船的直线航迹误差控制在±30 cm范围内。在满足收割要求的基础上,能够有效避免偏航导致的重复切割或漏割。
译  名：
Control System for Automatic Aquatic Plant Cleaning Ship
作  者：
Liu Huigui;Zhao Dean;Sun Yueping;Zhang Jun;Wu Bo;School of Electronic and Information Engineering,Jiangsu University;Key Laboratory of Facility Agriculture Measurement and Control Technology and Equipment of Machinery Industry;
关键词：
River crab aquaculture Aquatic plant cleaning ship GPS Navigation
摘  要：
In order to meet the requirements of the periodic cutting and cleaning of aquatic plants in river crab aquaculture,a small and medium-sized intelligent automatic aquatic plant cleaning ship based on ARM was designed. Then the mechanical structure and working principle of the integration of harvest were introduced,and the ship's main structure characteristics were also put forward,such as the paddle propeller without a rudder,rotary cutting device,cut deep automatic adjustment regulator and so on. The closed loop control system of GPS navigation for the ship was designed with PD and PI control technology of intelligent mobile robot,and high precision GPS navigation control technology. The experiment results showed that the control precision of linear track could be controlled precisely within the scope of± 30 cm. On the basis of meet harvest requirement,the control system can avoid the repeat cutting or miss cutting caused by yaw effectively.

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