| 基于CAN总线的农业车辆自动导航控制系统 |
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| 引用本文： | 纪朝凤,刘刚,周建军,张漫.基于CAN总线的农业车辆自动导航控制系统[J].农业机械学报,2009,40(Z1). |
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| 作者姓名： | 纪朝凤 刘刚 周建军 张漫 |
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| 作者单位： | 1. 中国农业大学现代精细农业系统集成研究教育部重点实验室,北京,100083
2. 国家农业信息化工程技术研究中心,北京,100089 |
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| 基金项目： | 国家"863"高技术研究发展计划资助项目 |
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| 摘 要： | 以ISO 11783协议作为系统数据通信的标准,开发了基于CAN总线的农业车辆自动导航控制系统,该系统包括控制终端、GPS节点、电子罗盘节点、角度传感器节点及转向控制节点,其中控制节点采用比例参数可调节的自适应PID控制算法实现车辆的转向控制.通信测试结果表明,该系统能够实时可靠地采集多个传感器信息和传输控制指令.车辆导航实验结果表明,转向控制方法能够以较快的速度跟踪目标值,具有良好的控制效果.
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| 关 键 词： | 转向控制 通信数据网络 自适应PID控制 CAN总线 |
Automatic Guidance System of Agricultural Vehicles Based on CAN Bus |
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| Ji Chaofeng Liu Gang Zhou Jianjun Zhang Man.Automatic Guidance System of Agricultural Vehicles Based on CAN Bus[J].Transactions of the Chinese Society of Agricultural Machinery,2009,40(Z1). |
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| Authors: | Ji Chaofeng Liu Gang Zhou Jianjun Zhang Man |
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| Institution: | 1.Key Laboratory of Modern Precision Agriculture System Integration Research;Ministry of Education;China Agricultural University;Beijing 100083;China 2.National Engineering Research Center for Information Technology in Agriculture;Beijing 100089;China |
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| Abstract: | A navigation control system for agricultural machinery was developed based on CAN bus with the communication protocol of ISO 11783,which was the standardization for the exchange of information between different devices in the system.The system includes a control terminal,an acquisition unit of GPS signal,an acquisition unit of digital compass signal,an acquisition unit of angle sensor signal,and a steering control unit.A self-adaptive PID algorithm was adopted to perform steering control.The communication e... |
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| Keywords: | Steering control Communications data network Adaptive PID control CAN bus |
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