设计和实验一个自动平衡系统的拖拉机安装工具的设计和实验
Haibin Yao1, Engen Zhang1, Yufei Liu2
1School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China.
Sensors (Basel, Switzerland)
|June 27, 2025
概括
本研究介绍了使用双闭环模糊PID算法的拖拉机工具自动平衡系统. 该系统有效地纠正工具滚动,显著提高农业机械的操作精度和稳定性.
科学领域:
- 农业工程 农业工程
- 控制系统 控制系统
- 机器人技术 机器人技术 机器人技术
背景情况:
- 拖拉机机身滚动导致由于刚性接系统而导致安装工具的土壤透不均.
- 这种不对称性会对农业机械的运行效率产生负面影响.
- 现有的系统缺乏准确和快速的校正,以实现滚动角度.
研究的目的:
- 开发一套用于拖拉机上的工具的自动平衡系统.
- 为了解决拖拉机机身滚动造成的不对称的土壤透问题.
- 提高农业工具的操作效率和精度.
主要方法:
- 开发了一种使用双闭环模糊比例-整数-导数 (PID) 算法的自动平衡系统.
- 采用姿势角度传感器,实时检测器械姿势.
- 使用双作用液压气和电磁方向进行精确的控制.
主要成果:
- 模拟显示,与传统的模糊PID相比,滚角校正时间减少了56.89%.
- 在静态测试中,在1.3秒内实现了±10°至0°的滚角调整.
- 实地实验证明了高精度,平均绝对误差 (MAE) 为0.19°,根平均平方误差 (RMSE) 为0.28°.
结论:
- 双闭环模糊PID算法比传统方法提供了更高的性能.
- 开发的系统表现出高控制精度,稳定性和性,用于拖拉机上的工具.
- 该系统有效地减轻了设备偏差,即使在地形突然变化的情况下.
相关概念视频
Leveling Equipment
150
As leveling involves measuring vertical distances relative to a horizontal line of sight, it requires a graduated rod, called a level rod, for vertical measurements and an instrument called a level for a horizontal sight line. A level includes a high-powered telescope with a mechanism for leveling to ensure the line of sight is horizontal when the bubble in the spirit level is centered. Leveling rods, made of wood, metal, or fiberglass, are graduated in feet or meters and commonly used in two-...
150
Design Example: Maintaining Level of an Embankment
131
Constructing a roadway embankment over uneven terrain requires precise leveling to ensure stability and proper drainage. Surveyors use a leveling instrument and staff to calculate ground elevations and determine the required fill material at each point along the embankment alignment.The process begins by positioning a leveling instrument near a benchmark with a known elevation. A backsight reading establishes the instrument height, which serves as a reference for subsequent measurements. A...
131
Introduction and Methods of Leveling
235
Leveling is a surveying procedure used to determine elevation differences between distant points. Elevation refers to the vertical distance above or below a reference datum, typically mean sea level (MSL). In the United States, elevations are often referenced to the mean sea level station at Father Point Rimouski along the St. Lawrence Seaway. To make the datum accessible, permanent markers are established throughout the region. These markers, called benchmarks, have known elevations. If the...
235
Differential Leveling
332
Differential leveling is a precise method in surveying used to determine the elevation difference between two points. Its primary goal is to establish accurate vertical measurements to create level surfaces or grade lines critical for designing and constructing infrastructures such as roads, bridges, and buildings.The procedure for differential leveling begins with setting up and leveling the instrument at a point where the benchmark can be seen. The level rod is held on the benchmark (BM), and...
332
Influence of Earth's Curvature and Atmospheric Refraction on Leveling
284
During leveling, the Earth's curvature and atmospheric refraction introduce deviations in the line of sight from a true horizontal reference. When the line of sight is leveled, it remains perpendicular to the plumb line only at a single point. Beyond this, it deviates due to the Earth’s curvature, represented by the correction C. For a sight distance D, the deviation can be derived using the relationship:This relationship shows that the deviation increases quadratically with distance.
284
Common Leveling Mistakes and Errors
129
A survey team is tasked with determining the elevation difference between points Point A and Point B, separated by uneven terrain. They use a leveling instrument and a leveling rod.Common MistakesMisreading the Rod: During a backsight reading at Point A, the instrumentman observes the rod partially obscured by tall grass. Instead of reading 1.135 m, they mistakenly record 1.735 m due to the misalignment of the crosshair with the wrong graduation. This error adds 0.600 m to all subsequent...
129


