为果园操作平台设计和测试适应性平面化系统.
Jianpeng Guo1,2, Zemin Lu1,2, Bingbo Cui1,2
1Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China.
Sensors (Basel, Switzerland)
|March 17, 2025
概括
本研究介绍了一种适应性平衡系统,用于果园平台,使用惯性测量单元 (IMU). 该系统确保稳定的平台态度,提高农业操作的安全性和效率.
科学领域:
- 农业工程 农业工程
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
背景情况:
- 果园操作平台在不平坦的地形上面临倾斜和翻转的风险.
- 即时平衡对于安全高效的平台运行至关重要.
研究的目的:
- 为果园操作平台设计一个自适应的平面化系统.
- 分析影响平衡机制角度调整的因素.
主要方法:
- 将平台简化为一个四点平衡机制.
- 设计了一种使用惯性测量单元 (IMU) 的自适应平衡系统.
- 使用MATLAB和ADAMS的共模拟,结合PID和模糊控制策略.
主要成果:
- 平台的倾斜角度在±1.5°内保持稳定.
- 实现了3.6秒的平均平面化时间.
- 模糊的PID控制将动态平衡倾斜度降低到1.6° (±0.8° std dev),而PID控制则是2.6° (±1.4° std dev).
结论:
- 开发的自适应平衡系统有效地稳定了果园平台.
- 该系统与智能和电气化农业机械的趋势保持一致.
- 为农业机械制造商提供了宝贵的参考资料.
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