農(nóng)用拖拉機直線導(dǎo)航設(shè)計

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摘要 隨著農(nóng)業(yè)生產(chǎn)要求的提高，拖拉機在田間的作業(yè)速度越來越快，作業(yè)幅度越來越寬，要求拖拉機駕駛員能夠精準(zhǔn)的按照預(yù)定路線行走的同時，還要保證實時進(jìn)行變化量的投入。這無疑給駕駛員帶來了很大的勞動強度，從而降低了工作效率。因此，人們迫切要求能夠最大程度的提高農(nóng)用機械的工作效率，降低人工操作難度。農(nóng)用拖拉機直線導(dǎo)航技術(shù)主要是通過傳感器對車體本身位置信息實施檢測，然后根據(jù)檢測獲得的信號自主地進(jìn)行路線的規(guī)劃與障礙的躲避，勘測定位和控制系統(tǒng)的穩(wěn)定性，經(jīng)過控制轉(zhuǎn)向系統(tǒng)使拖拉機沿規(guī)劃的路線自動行駛從而實現(xiàn)自動導(dǎo)航。在現(xiàn)代農(nóng)業(yè)生產(chǎn)中, 國內(nèi)外對農(nóng)用拖拉機直線導(dǎo)航技術(shù)的應(yīng)用越來越廣泛。本文主要研究的是基于線性擾動觀測器下的農(nóng)用拖拉機的直線導(dǎo)航，線性擾動觀測器，顧名思義是經(jīng)過將外部擾動及模型參數(shù)的轉(zhuǎn)變造成的實際目標(biāo)和名義模型輸出的差別等效到控制輸入端，即檢查出等效干擾，然后在控制過程中引入等效補償，實現(xiàn)對干擾的完全抑制。主要研究工作如下：
首先，介紹了導(dǎo)航的分類和目前研究農(nóng)用拖拉機導(dǎo)航常用的方式。其次，我們建立了農(nóng)用拖拉機的數(shù)學(xué)模型，為控制系統(tǒng)的設(shè)計奠定了理論基礎(chǔ)。最后，我們設(shè)計了合理線性擾動觀測器，實現(xiàn)了對農(nóng)用拖拉機直線行駛的實時控制，并用仿真軟件做了相應(yīng)的仿真。
關(guān)鍵詞：線性系統(tǒng); 擾動觀測器; 拖拉機導(dǎo)航


Agricultural tractors straight navigation based on linear disturbance observer
Abstract: With the improvement of the operational requirements of the harvest, agricultural machinery in the field of operating speed faster and faster, more wide operating range, requiring the pilot to accurately agricultural machinery while walking along a predetermined route, but also to ensure the real-time variable inputs. This will undoubtedly bring a lot to the driver 's labor intensity, thereby reducing the efficiency of labor. Therefore, it is urgently requires the ability to maximize the efficiency of agricultural machinery, reducing the difficulty of manually operated. Automatic navigation technology mainly through the body 's own position and orientation sensor information to detect , independently path planning and obstacle avoidance detection based on the information obtained, the stability of the probe positioning and control system by controlling the steering system so that the body along the planned route Auto travel in order to achieve the automatic navigation. In modern agricultural production, domestic and agricultural machinery for automatic navigation control technology more widely. This paper studies the linear disturbance observer agricultural tractors under linear navigation based on the linear disturbance observer, suggests that it is by the difference between the actual object and external disturbances caused by changes in the model parameters and nominal model output equivalent to the control input, i.e., the equivalent disturbance observer, and then introducing the equivalent compensation control, to achieve complete suppression of interference. The main work is as follows:
Firstly, the classification and navigation methods currently used in the study of agricultural tractors navigation are introduced. Secondly, we establish a mathematical model of agricultural tractors, and the design of the control system has laid a theoretical foundation. Finally, we design a rational linear disturbance observer, to achieve a real-time control of the farm tractor driving straight, and use simulation software to do the corresponding simulation.
Key words：Linear system; disturbance observer; tractor navigation


目錄
第一章 緒論 1
1.1研究背景 1
1.2導(dǎo)航的概念及分類 2
1.3農(nóng)用拖拉機導(dǎo)航的目的意義 3
1.4農(nóng)用拖拉機導(dǎo)航研究常用的方式 4
1.4.1信標(biāo)導(dǎo)航 4
1.4.2視覺導(dǎo)航 5
1.4.3基于自適應(yīng)模糊控制下的導(dǎo)航 5
1.4.4基于飽和方式的直線路徑跟蹤導(dǎo)航 6
1.4.5基于PID控制的方式 7
1.4.6多傳感器融合的控制器 8
1.4.7線性擾動觀測器 8
第二章 系統(tǒng)建模及問題分析 8
2.1系統(tǒng)建模 9
2.2擾動觀測器的基本原理 11
2.2.1擾動觀測器的主要應(yīng)用 11
2.2.2頻域下的擾動觀測器 12
2.2.3時域下的擾動觀測器 14
第三章 問題的分析與解決方式 17
3.1赫爾維茨判據(jù)（Hurwitz） 17
3.2時域下的擾動觀測器設(shè)計 19
第四章 系統(tǒng)仿真 22
4.1農(nóng)用拖拉機直線行駛仿真 22
結(jié)論 25
致謝 26
參考文獻(xiàn)： 27