Agricultural machinery photoelectric automatic navigation control system based on back propagation neural network

IF 2.4 4区 农林科学 Q2 AGRICULTURAL ENGINEERING Journal of Agricultural Engineering Pub Date : 2023-07-05 DOI:10.4081/jae.2023.1530
Yerong Sun, Kechuan Yi
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Abstract

So as to study the influence of speed factors on the stability of tractor automatic navigation system, combined with neural network control theory, the author proposed a dual-objective joint sliding mode control method based on lateral position deviation and heading angle deviation, using back propagation neural network to establish two-wheel tractor-path dynamics model and straight-line path tracking deviation model, the overall system simulation was carried out by using Matlab/Simulink, and the reliability of the control method was verified. The experimental results showed: when the tractor was tracked with the automatic control of linear path under the condition of the variable speed, the maximum deviation of the lateral position deviation was 12.7cm, and the average absolute deviation was kept within 4.88cm; the maximum deviation of the heading angle deviation was 5°, and the average absolute deviation was kept within 2°; the maximum value of the actual rotation angle was 3.13°, and the standard deviation of the fluctuation was within 0.84°. Under the condition of constant speed and variable speed, using the joint sliding mode control method designed by the author, the dual-objective joint control of lateral position deviation and heading angle deviation could be realized, the controlled overshoot was small, the controlled deviation was small after reaching a stable state, and the adaptability to speed factors was strong, which basically could meet the accuracy requirements of farmland operations.
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基于反向传播神经网络的农机光电自动导航控制系统
为了研究速度因素对牵引车自动导航系统稳定性的影响,结合神经网络控制理论,提出了一种基于横向位置偏差和航向角偏差的双目标联合滑模控制方法,利用反向传播神经网络建立了两轮牵引车路径动力学模型和直线路径跟踪偏差模型,并利用Matlab/Simulink对整个系统进行了仿真。验证了该控制方法的可靠性。实验结果表明:在变速条件下采用直线路径自动控制履带时,横向位置偏差的最大偏差为12.7cm,平均绝对偏差保持在4.88cm以内;航向角偏差最大偏差为5°,平均绝对偏差保持在2°以内;实际旋转角度的最大值为3.13°,波动的标准差在0.84°以内。在恒速和变速条件下,采用笔者设计的联合滑模控制方法,可实现横向位置偏差和航向角度偏差的双目标联合控制,可控超调量小,达到稳定状态后可控偏差较小,对速度因素的适应性强,基本能满足农田作业的精度要求。
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来源期刊
Journal of Agricultural Engineering
Journal of Agricultural Engineering AGRICULTURAL ENGINEERING-
CiteScore
2.30
自引率
5.60%
发文量
40
审稿时长
10 weeks
期刊介绍: The Journal of Agricultural Engineering (JAE) is the official journal of the Italian Society of Agricultural Engineering supported by University of Bologna, Italy. The subject matter covers a complete and interdisciplinary range of research in engineering for agriculture and biosystems.
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