中国农业科学院农业信息研究所 中国农学会
Agricultural Information Institute of CAAS China Association of Agricultural Science Societies
En
Ch
中国农业科学院农业信息研究所 中国农学会 主办

AI检索

订阅

返回顶部
当前位置: 首页 > 文章 > 基于CAN总线的拖拉机导航控制系统设计与试验 农业机械学报 2016 (1) 35-42
Position: Home > Articles > Design and Experiment of Navigation Control System for Tractor Based on CAN Bus Transactions of the Chinese Society for Agricultural Machinery 2016 (1) 35-42

基于CAN总线的拖拉机导航控制系统设计与试验

作  者：
黎永键;赵祚喜;黄培奎;关伟;吴晓鹏
单  位：
华南农业大学工程学院;广东农工商职业技术学院
关键词：
拖拉机;导航;CAN总线;全球定位系统;通信协议;控制方法
摘  要：
为提高农业机械导航控制的准确性,在东方红-X804型拖拉机平台上设计了一种基于CAN总线的导航控制系统,该系统包括导航控制器、GPS定位系统、转向系统以及CAN通信模块。上位机节点采用嵌入式ARM处理器AT91SAM9261,以双闭环PID控制算法实现转向控制,并基于收发控制芯片SN65HVD1050D设计了CAN接口电路。功能节点分别实现转向控制、油门开度控制、制动控制、角速度测量以及机具升降控制。根据CAN2.0总线协议制定了主动节点和从动节点的数据传输通信协议。进行了CAN通信试验以及田间作业试验。结果表明,CAN总线系统能保证信号及命令传输,东方红拖拉机能按照规划路径进行行驶、转向、变速等操作。其中,转向系统的方波信号角度跟踪稳态时平均误差0.41°,跟踪时间为1.32 s;拖拉机田间试验过程中,直线行驶的横向跟踪误差平均值为0.021 m,地头转向的横向跟踪误差平均值为0.016 m。
译  名：
Design and Experiment of Navigation Control System for Tractor Based on CAN Bus
作  者：
Li Yongjian;Zhao Zuoxi;Huang Peikui;Guan Wei;Wu Xiaopeng;Guangdong AIB Polytechnic College;College of Engineering,South China Agricultural University;
关键词：
tractor;;navigation;;CAN Bus;;global positioning system;;communication protocol;;control method
摘  要：
An automatic navigation control system based on controller area network was designed on Dongfanghong X-804 tractor,which includes the navigation controller,GPS system,steering system and CAN communication system. The navigation controller,which used ARM processor AT91SAM9261 embedded CPU,was used to realize automatic navigation control based on double closed-loop PID algorithm, and the CAN interface circuit was designed by using a control chip transceiver SN65HVD1050 D. The function nodes realized steering control, speed control, brake control, and machine lift control respectively. Then, a communication protocol of CAN2. 0 was presented for distributed control network. Finally,CAN communication experiment and field test were carried out based on Dongfanghong X-804 tractor. Experimental results demonstrated that the CAN bus system was able to transfer data well,and the double closed-loop control solved the control overshoot well and the average error was 0. 41°,with 1. 32 s tracking time. The field test result showed that the average lateral tracking error of positioning was 0. 021 m in line tracking and 0. 016 m in headland turning.

相似文章

导出引用
计量
文章访问数: 8
HTML全文浏览量: 0
PDF下载量: 0

所属期刊

推荐期刊

友情链接Friendly link
农业信息研究所Agricultural information institute 农业智能知识服务平台Agricultural intelligent knowledge service platform 农业学术服务平台Agricultural Knowledge Service System 中国知网CNKI 维普网VIP 万方WANFANG DATA
联系我们Contact us

电话Tell：010-82109652-808

邮箱E-mail：agrijournal@caas.cn

服务Service
关于我们About us 意见建议Opinions and suggest
版权说明Copyright
单位：中国农业科学院农业信息研究所 中国农学会 © 2017中国农业科学院农业信息研究所 ICP备案号：京ICP备09089781号-46