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農業(yè)機械虛擬試驗交互控制系統(tǒng)
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“十二五”國家科技支撐計劃資助項目(2011BAD20B01);中國博士后科學基金資助項目(20100480136);北京市科委國家現(xiàn)代農業(yè)城項目(D101105046310002)


Interaction Control System of Agricultural Machinery Virtual Test
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    摘要:

    設計了農業(yè)機械虛擬試驗系統(tǒng)，建立了田間工況模擬與虛擬交互控制試驗平臺。根據(jù)耕作區(qū)域的數(shù)字地圖及農田作物圖像信息，設計農業(yè)機械虛擬試驗場，實現(xiàn)人和農業(yè)機械在虛擬環(huán)境內的漫游。建立四自由度模擬試驗臺，實現(xiàn)對拖拉機在田間行走時姿態(tài)的模擬仿真。從虛擬場景中提取作物行的位置信息，根據(jù)這些信息給出控制信號，進行拖拉機行駛速度、方向和平衡控制，使拖拉機沿作物行行駛。試驗表明，橫滾角最大偏差為0.34°，偏航角最大偏差為0.51°，高程最大偏差為2.5mm，行走速度最大偏差為0.12km/h。實體樣機和虛擬樣機有較好的一致性。

    Abstract:

    Virtual test interactive control methods was studied, agricultural machinery virtual test system was designed, experimental platform for field operating mode simulation and interactive control was built, and the drive of human and agricultural machinery in virtual environment was realized. To simulate the gestures of tractor driving, four degrees freedom simulation testing platform was built. Crop rows from virtual scenes were identified and control signals to control the tractor's speed and direction were gave. Results showed that the maximum deviation of roll angle was 0.34°, the maximum deviation of drift angle was 0.51°, elevation was 2.5mm, and speed was 0.12km/h. Physical prototyping and virtual prototyping were in good agreement. 

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苑嚴偉,張小超,吳才聰,李頡,張帥,柏流芳.農業(yè)機械虛擬試驗交互控制系統(tǒng)[J].農業(yè)機械學報,2011,42(8):149-153. Yuan Yanwei, Zhang Xiaochao, Wu Caicong, Li Jie, Zhang Shuai, Bai Liufang. Interaction Control System of Agricultural Machinery Virtual Test[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(8):149-153.

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