基于余摆运动的株间机械除草爪齿避苗控制算法

为准确控制以余摆运动为原理的株间机械除草装置的除草爪齿避让作物,提出了基于余摆运动的株间机械除草爪齿避苗控制算法,介绍了爪齿余摆运动株间机械除草爪齿避苗控制算法的基本原理,根据余摆线运动特点推导出了除草爪齿避苗判断表达式,并设计了除草爪齿的旋转角速度控制器和除草爪齿避苗控制器。利用MATLAB对除草爪齿避苗控制算法进行了仿真分析,结果表明该算法能准确控制除草爪齿避让作物,前进速度对株间区域除草覆盖率影响小,但会受除草爪齿爪尖旋转半径影响,除草爪齿旋转半径越大,进入株间区域的除草爪齿根数越少,株间区域除草覆盖率降低。在试验平台上进行了验证试验,平均每个株间区域进入的爪齿根数和株间区域除草覆盖率与仿真分析结果一致。

Control algorithm for intra-row weeding claw device based on trochoidal motion

For intra-row crop weeding application in the field, a claw tooth weeding device was designed, whose movement trajectory was based upon the trochoidal motion model. A control algorithm was developed to calculate the appropriate movement trajectory for the weeding device to achieve precise intra-row weeding without damaging to crop plants. The machine forward speed, the angular velocity of the weeding claw and the spatial layout of the crop plants were considered in the algorithm. The simulation of the algorithm was carried out using Matlab to evaluate the dynamic response of claw movement. The simulation results showed that the control algorithm could make the claw tooth avoid crop plants while it is weeding, and that the effect of varied forward speed on intra-row weeding coverage rate is very little. However, the coverage rate is related to the rotation radius of the weeding claw teeth. The larger the rotation radius, the lesser is the number of weeding claw teeth which operate in the intra-row area and the lower the intra-row weeding coverage rate. The experiment results show that the number of the weeding claw teeth in the intra-row area and the intra-row weeding coverage rate agree with the simulation results.