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農(nóng)業(yè)機(jī)械虛擬試驗(yàn)交互控制系統(tǒng)
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“十二五”國家科技支撐計(jì)劃資助項(xiàng)目(2011BAD20B01);中國博士后科學(xué)基金資助項(xiàng)目(20100480136);北京市科委國家現(xiàn)代農(nóng)業(yè)城項(xiàng)目(D101105046310002)


Interaction Control System of Agricultural Machinery Virtual Test
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    摘要:

    設(shè)計(jì)了農(nóng)業(yè)機(jī)械虛擬試驗(yàn)系統(tǒng),，建立了田間工況模擬與虛擬交互控制試驗(yàn)平臺(tái),。根據(jù)耕作區(qū)域的數(shù)字地圖及農(nóng)田作物圖像信息,，設(shè)計(jì)農(nóng)業(yè)機(jī)械虛擬試驗(yàn)場(chǎng),，實(shí)現(xiàn)人和農(nóng)業(yè)機(jī)械在虛擬環(huán)境內(nèi)的漫游。建立四自由度模擬試驗(yàn)臺(tái),，實(shí)現(xiàn)對(duì)拖拉機(jī)在田間行走時(shí)姿態(tài)的模擬仿真。從虛擬場(chǎng)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(hào),，進(jìn)行拖拉機(jī)行駛速度、方向和平衡控制,，使拖拉機(jī)沿作物行行駛,。試驗(yàn)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(shí)體樣機(jī)和虛擬樣機(jī)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(yán)偉,張小超,吳才聰,李頡,張帥,柏流芳.農(nóng)業(yè)機(jī)械虛擬試驗(yàn)交互控制系統(tǒng)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),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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