Study On Linear Driving Control System For Rice Transplanter Based On MIMU/EC Integrated Navigation

Rice is a primary crop in China.The mechanization production can not only improve the working efficiency and reduce the labor intensity,but also reduce the production cost and improve the benefit of rice cultivation.However,the whole mechanization level of rice in China is not high,especially the planting mechanization level is low.Machine transplanting is an important way of rice planting.However,due to the complicated working environment of paddy field during transplanting,it is easy to cause bending of local seedling belt line when manually piloted transplanter works,which is not conducive to the later field management and harvest operations.Therefore,the research on transplanter linear navigation operation is of great significance for improving transplanting efficiency and ensuring transplanting quality.Based on the analysis of automatic navigation system and the control method research at home and abroad,on the basis of rice transplanter as the research object,set the navigation system hardware platform,steering mechanism has simple structure,is developed to study the integrated navigation data fusion method,this paper proposes a fast response speed,high accuracy and stability of control method,developed a set based on micro inertial unit(MIMU)and electronic compass(EC)integrated navigation transplanter linear driving control system and experiment validation.The main research contents and conclusions are as follows:(1)The hardware platform of the transplanter integrated navigation system is built.According to the working environment of paddy field during transplanting,combined with the agronomic requirements of machine transplanting,the integrated navigation based on micro-inertial(MIMU)and electronic compass(EC)was selected.The steering characteristics of paddy field transplanter were analyzed,and the steering system with simple structure was designed.The sensor,motor and motor drive of the integrated navigation system were selected,and finally the hardware platform of the transplanter integrated navigation system was built.(2)Research on integrated navigation data information fusion method.In order to accurately receive the heading information of the transplanter,it is necessary to fuse the solution angle information to obtain accurate heading angle information,and propose two kinds of algorithm models.1)Complementary filtering and Kalman filtering combined model:The complementary filtering is located at the front of the fusion model to achieve the fusion of the data information of the gyroscope and the accelerometer to obtain the preliminary heading information.The Kalman filter is located at the back of the fusion model and is used to The complementary filtering obtains the heading information and the heading information of the electronic compass to obtain higher-precision heading information.2)Complementary filtering and joint Kalman filtering combined model:Complementary filtering is the same as in model a.It is used to obtain the initial heading information after the fusion of gyroscope and accelerometer.The joint Kalman filter is located at the back of the fusion model and will complement each other.The heading information obtained by the filtering and the heading information of the electronic compass are input into each sub-filter to obtain a local optimal estimation result,and the sub-filter transmits the local optimal estimation result to the main filter to obtain a global optimal heading result,and finally The main filter feeds back the global optimal heading result to each sub-filter,and completes the current time state estimation update of the sub-filter.The experimental results show that the combined model of complementary filtering and joint Kalman filtering is more suitable for this study and meet the navigation accuracy requirements.(3)Research on steering control algorithm based on fuzzy adaptive PID.Based on the analysis of the steering characteristics of the paddy field transplanter,the fuzzy adaptive PID controller was developed according to the designed steering system.The simulation of the Simulink platform in MATLAB and the automatic steering system test based on the simulation results show that the designed fuzzy adaptive PID controller has less overshoot,shorter adjustment time and higher robustness than the traditional PID controller.advantage.In the automatic steering system test,the coefficientR~2(28)0.9964and root mean square error RMSE=0.43°are determined,which indicates that the fuzzy adaptive PID controller designed in this study fully meets the requirements of the transplanter navigation automatic steering system.(4)Experiment of straight line running control system of rice transplanter based on MIMU/EC integrated navigation.The fusion ability of the two fusion models to course information was verified through experiments,and the linear driving ability of the rice transplanter linear driving control system based on MIMU/EC combined navigation was evaluated based on the test results.The results showed that when the combined navigation fusion model b test was adopted,the average straight-line driving deviation of the transplanter was 0.067m,the standard deviation was 0.046m,and the average transverse deviation of the final driving track was 0.03m.It can be concluded that the linear driving ability of the rice transplanter control system based on MIMU/EC combined navigation meets the technical requirements of linear transplanting.