| 基于时序的水田平地机俯仰角预测建模与试验 |
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| 引用本文： | 赵润茂,胡炼,罗锡文,唐灵茂,周浩,杜攀,贺静.基于时序的水田平地机俯仰角预测建模与试验[J].农业工程学报,2018,34(11):34-39. |
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| 作者姓名： | 赵润茂 胡炼 罗锡文 唐灵茂 周浩 杜攀 贺静 |
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| 作者单位： | 华南农业大学南方农业机械与装备关键技术教育部重点实验室;南方粮油作物协同创新中心 |
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| 基金项目： | 国家自然科学基金项目（31601225）；华南农业大学博士生国外（境外）联合培养项目（2017LHPY004）；广东省自然科学基金项目（2015A030310292）；广州市科技计划项目（201610010071） |
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| 摘 要： | 水田硬底层高低不平引起拖拉机姿态变化,反馈控制系统的偏差信号始终滞后于实际运动姿态一个控制周期,影响平地铲的即时控制,若采用预测控制可根据预测信息提前施加控制量从而改善系统动态响应,其中预测模型是预测控制律设计的基础和关键。为实现水田平地机平地铲高程预测控制,该文提出了一种水田平地机俯仰角预测模型在线辨识及其参数估计方法。通过对平地机俯仰角传感数据预处理、结构识别和残差诊断,设计了ARMA(18,17)作为平地机俯仰角预测模型,采用遗忘因子递推最小二乘算法(forgetting factor recursive least square,FFRLS)对模型参数进行在线估计并实时更新。利用姿态航向参考系统(attitude and heading reference system,AHRS)采集不同地况下平地机俯仰角数据同步在线建模,并将模型输出与AHRS实测值比较,结果表明:ARMA(18,17)模型输出结果与AHRS实测值变化趋势一致,最大绝对误差与均方根误差均不超过0.2?,验证了ARMA(18,17)作为平地机俯仰角预测模型和FFRLS在线辨识方法的有效性,为后续水田平地机平地铲预测控制律设计提供了理论参考。
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| 关 键 词： | 农业机械 模型 控制 水田平地机 参数估计 ARMA FFRLS |
| 收稿时间： | 2017/11/30 0:00:00 |
| 修稿时间： | 2018/4/24 0:00:00 |
Modelling and verification for pitch angle of leveler machine in paddy fields based on time series analysis |
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| Zhao Runmao,Hu Lian,Luo Xiwen,Tang Lingmao,Zhou Hao,Du Pan and He Jing.Modelling and verification for pitch angle of leveler machine in paddy fields based on time series analysis[J].Transactions of the Chinese Society of Agricultural Engineering,2018,34(11):34-39. |
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| Authors: | Zhao Runmao Hu Lian Luo Xiwen Tang Lingmao Zhou Hao Du Pan and He Jing |
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| Institution: | 1. Key Laboratory of Key Technology for South Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China;,1. Key Laboratory of Key Technology for South Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China; 2. Southern Regional Collaborative Innovation Center for Grain and Oil Crops in China, Changsha 410128, China,1. Key Laboratory of Key Technology for South Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China; 2. Southern Regional Collaborative Innovation Center for Grain and Oil Crops in China, Changsha 410128, China,1. Key Laboratory of Key Technology for South Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China;,1. Key Laboratory of Key Technology for South Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China;,1. Key Laboratory of Key Technology for South Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China; and 1. Key Laboratory of Key Technology for South Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China; |
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| Abstract: | |
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| Keywords: | agricultural machinery models control leveler machine parameter estimation ARMA FFRLS |
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