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超聲波傳感器評定水田激光平地機(jī)水平控制系統(tǒng)性
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of Leveling Performance for Laser-controlled Leveling Machine in Paddy Field Based on Ultrasonic Sensors
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    摘要:

    為了評定水田激光平地機(jī)平地鏟水平控制系統(tǒng)性能,采用2個SensComp 600超聲波傳感器測量平地鏟兩端與參考水平面的距離,然后利用三角關(guān)系計算得到平地鏟傾斜角度。對超聲波測距、傳感器與反射面成一定夾角的影響以及運(yùn)動對測量的影響因素進(jìn)行了分析,并與姿態(tài)航向參考系統(tǒng)AHRS500GA-226提供的參考傾角進(jìn)行了對比,結(jié)果表明2個超聲波傳感器在靜態(tài)和動態(tài)條件下均能較準(zhǔn)確地測量出平地鏟傾斜角度,最大靜止誤差和最大動態(tài)誤差分別為0.08°和1000°。在平整的水泥地面上對平地鏟水平系統(tǒng)性能進(jìn)行了測試,實驗結(jié)果表明,水田激光平地機(jī)水平控制系統(tǒng)傾斜角度測量準(zhǔn)確,誤差不超過1.00°,整個系統(tǒng)能較好地實現(xiàn)平地鏟水平控制,滿足水田平整作業(yè)需要。

    Abstract:

    In order to evaluate the leveling performance of the paddy field leveling machine, the inclination of the harrow was measured using two SensComp 600 ultrasonic sensors. The ultrasonic sensors were fixed on the harrow's end, and distances of each harrow's end to referenced horizontal were measured to calculate the gradient angle of the harrow. Some factors having effect on the measurement of the gradient angle were analyzed, such as the distance measured by the ultrasonic sensors, the measuring angles of the sensor, and the movement of the sensors. Then the angle was compared with the data from an attitude-heading reference system AHRS500GA-226 device. The results showed that the calculated inclination was quite accurate. The maximum static-error and the maximum dynamic-error were 0.08° and 1.00° respectively. Finally, estimating experiments were conducted in a laboratory. Based on the evaluation results, it was concluded that the leveling control system could measure the inclination real-time and exactly, and the whole leveling system works reliably.

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胡煉,羅錫文,趙祚喜,李慶,陳偉通.超聲波傳感器評定水田激光平地機(jī)水平控制系統(tǒng)性[J].農(nóng)業(yè)機(jī)械學(xué)報,2009,40(Z1):73-76. of Leveling Performance for Laser-controlled Leveling Machine in Paddy Field Based on Ultrasonic Sensors[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(Z1):73-76.

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