基于双天线GPS接收机的麦冬收获机自动水平系统的研制(英文)

麦冬是一种生长在浙江的中草药，通常被种植在畦装的土地中。在收获麦冬时如果牵引的拖拉机不小心落入畦沟中，则三点悬挂的麦冬收获机的杆件易被拉断。为解决这一问题，本文研发出了一种自动水平控制系统，它由总控制器、电子控制单元（electronic control unit, ECU）、双天线GPS接收机、拉绳传感器、油缸和液压阀组成，可使收获机一直处于水平姿态。总控制器先后采集到拖拉机的横滚角、油缸的位移量，估算出收获机的横滚角。采用比例微分（proportion integration differentiation, PID）控制算法产生液压阀的控制量。在麦冬田中的试验结果显示，左、右点之间的高程差是1.04 cm，标准差是2.39 cm，收获机可一直保持水平姿态，其构件没有再次断裂。 通讯作者: ZHANG Fangming (https://orcid.org/0000-0002-6033-4753) E-mail: fangmingzhang@126.com
Abstract: Ophiopogon japonicus, a kind of local herbal remedies in Zhejiang, is usually grown on rectangular pieces of land. In harvesting season of O. japonicus when a tractor accidentally falls into any furrows, mechanical parts of the tuber harvester hitched behind are prone to break. To solve this problem, an automated leveling system, consisted of a field computer, an electronic control unit (ECU), a dual-antenna GPS receiver, a rope-type sensor, a cylinder, and a hydraulic valve, was developed and tested so that the harvester remained level. The computer got rolling angle of the tractor and displacement of the cylinder in sequence, and then deduced rolling angle of the harvester. The system employed a proportion integration differentiation (PID) algorithm to calculate control quantity of the valve. The experimental results conducted in the fields of O. japonicus showed that the average elevation difference of the left and right points was 1.04 cm, and the standard deviation was 2.39 cm. Therefore, the harvester could remain horizontal all the time, and its mechanical fracture would not happen again. Key words: automated leveling system Ophiopogon japonicus agricultural implement dual-antenna GPS