Design and experiment of magnetic navigation control system based on fuzzy PID strategy-Reference-Cited by-同舟云学术

Design and experiment of magnetic navigation control system based on fuzzy PID strategy

Published:2022-11-08 Issue:2 Volume:13 Page:921-931
ISSN:2191-916X
Container-title:Mechanical Sciences
language:en
Short-container-title:Mech. Sci.

Author:

Geng Guosheng,Jiang Feng,Chai Chao,Wu Jianming,Zhu Yejun,Zhou Guiguan,Xiao Maohua^ORCID

Abstract

Abstract. In view of the difficulties in the navigation of facility agricultural equipment in a greenhouse environment, which are greatly affected by environmental factors, being difficult to navigate, and low accuracy, a magnetic navigation controller suitable for greenhouse environments is designed based on fuzzy PID (proportion integration differentiation) control and combined with the principle of magnetic navigation control in this paper. The magnetic navigation in a greenhouse environment is realised, and the installation test is carried out on the existing agricultural machinery platform. The results show that when driving in a straight line, the straightness error is controlled at ±2.5 cm m−1, and when driving on a bend, the driving deviation is controlled at ±4.5 cm m−1. Therefore, it can be considered that the magnetic navigation control method based on fuzzy PID control designed in the greenhouse environment can effectively improve the accuracy of navigation and promote the application of facility agricultural equipment to a certain extent.

Funder

Fundamental Research Funds for the Central Universities

Jiangsu Provincial Key Research and Development Program

Publisher

Copernicus GmbH

Subject

Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering

Link

https://ms.copernicus.org/articles/13/921/2022/ms-13-921-2022.pdf

Reference39 articles.

1. Ball, D., Upcroft, B., Wyeth, G., Corke, P., English, A., Ross, P., Patten, T., Fitch, R., Sukkarieh, S., and Bate, A.: Vision-based obstacle detection and navigation for an agricultural robot, J. Field Robot., 33, 1107–1130, https://doi.org/10.1002/rob.21644, 2016.

2. Cai, C.: Research on multi-objective optimal control of agricultural automatic navigation vehicle, MS thesis, School of Engineering, Zhejiang A & F University, China, 78 pp., 2020 (in Chinese).

3. Chen, H., Lu, W., Zhao, X., Wang, L., Zhang, Y., and He, X.: Research on fuzzy PID adaptivecontrol method for shifting manipulator of tractor driving robot based on force feedback, Journal of Nanjing Agricultural University, 39, 166–174, https://doi.org/10.7685/jnau.201504031, 2016 (in Chinese).

4. Chen, Y. and Liu, X.: Report on the development of vegetable mechanization in China, Journal of Chinese Agricultural Mechanization, 41, 46–53, https://doi.org/10.13733/j.jcam.issn.2095-5553.2020.03.009, 2020 (in Chinese).

5. Guo, C. H., Zhang, S., Zhao, J., and Chen, J.: Research on Autonomous navigation system of orchard Agricultural Vehicle based on RTK-BDS, Journal of Agricultural Mechanization Research, 42, https://doi.org/10.13427/j.cnki.njyi.2020.08.048, 2020.