| 无人驾驶自走式旱地胡麻喷药车转向控制系统设计 |
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| 引用本文： | 杨一,张锋伟,张方圆,杨天,许渊,赵武云.无人驾驶自走式旱地胡麻喷药车转向控制系统设计[J].农业工程,2021,11(5):112-116. |
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| 作者姓名： | 杨一 张锋伟 张方圆 杨天 许渊 赵武云 |
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| 作者单位： | 甘肃农业大学机电工程学院，甘肃 兰州730070 |
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| 基金项目： | 国家特色油料产业技术体系专项项目（CARS14128） |
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| 摘 要： | 针对胡麻密植程度高、不方便大型机械作业等问题，设计一款以直流无刷电机、电推杆为转向控制组件，基于STM32型单片机为控制核心的无人驾驶自走式旱地胡麻喷药车。该喷药车采用2.4 GHz无线电遥控装置与单片机之间的双向通行实现对喷药车行走速度、转弯半径和喷洒模式的控制。使用Keil uVision5软件编程，对喷药车各动作流程进行决策、控制。仿真结果表明，无人驾驶自走式旱地胡麻喷药车转向机构最大转向角度为左转35.9°、右转25.7°，实际使用转向角为±25°，最小转弯半径4 m，转向系统符合设计要求，为胡麻喷药车的智能避障、智能作业提供技术支持。
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| 关 键 词： | 无人驾驶 胡麻 喷药车 转向控制 仿真 |
| 收稿时间： | 2020/12/24 0:00:00 |
| 修稿时间： | 2021/2/3 0:00:00 |
Design on Steering Control System of Driverless Self-propelled Dry Land Flax Spraying Truck |
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| Abstract: | Aiming at problems of high density planting of flax and inconvenient operation of large machinery，driverless self-propelled dry land flax spraying truck was designed.Brushless DC motor and electric push rod were used as steering control components，and STM32 single chip microcomputer was used as control core of flax spraying truck.Spraying truck adopted two-way traffic between 2.4 GHz radio remote control device and single chip microcomputer to control walking speed，turning radius and spraying mode.Program was wrote by Keil uVision5 software to make decision and control for each action process of spraying truck.Simulation results showed that maximum left turning angle was 35.9°，maximum right turning angle was 25.7°，practical use steering angle was±25°，minimum turning radius was 4 m.Steering system met design requirements and it provided technical support for intelligent obstacle avoidance and intelligent operation of flax spraying truck. |
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