分布控制的乘坐式仿形采茶原型机研制与试验

赵润茂; 卞贤炳; 陈建能; 董春旺; 武传宇; 贾江鸣; 毛明; 熊永森

doi:10.13305/j.cnki.jts.2022.02.003

茶叶科学 >

2022 , Vol. 42 >Issue 2: 263 - 276

DOI: https://doi.org/10.13305/j.cnki.jts.2022.02.003

研究报告

分布控制的乘坐式仿形采茶原型机研制与试验

赵润茂 ,
卞贤炳 ,
陈建能 ,
董春旺 ,
武传宇 ,
贾江鸣 ,
毛明 ,
熊永森

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1.浙江理工大学机械与自动控制学院,浙江杭州 310018;
2.浙江省种植装备技术重点实验室,浙江杭州 310018;
3.中国农业科学院茶叶研究所,浙江杭州 310008;
4.浙江省农作物收获装备技术重点实验室,浙江金华 321000

赵润茂,男,讲师,主要从事农场环境融合感知与农业机器人研究。

收稿日期: 2021-09-01

修回日期: 2021-10-14

网络出版日期: 2022-04-15

基金资助

国家自然科学基金（51975537、52105284）、浙江理工大学科研启动基金（20022307-Y）、财政部和农业农村部：国家现代农业产业技术体系资助、浙江省领雁计划项目（2022C02052）

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Development and Test for Distributed Control Prototype of the Riding Profiling Tea Harvester

ZHAO Runmao ,
BIAN Xianbing ,
CHEN Jianneng ,
DONG Chunwang ,
WU Chuanyu ,
JIA Jiangming ,
MAO Ming ,
XIONG Yongsen

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1. Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China;
2. Key Laboratory of Zhejiang Transplanting Equipment Technology, Hangzhou 310018, China;
3. Tea Research Institute, Chinese Academy of Agricultural Sciences, Hangzhou 310008, China;
4. Key Laboratory of Crop Harvesting Equipment Technology of Zhejiang Province, Jinhua 321000, China

Received date: 2021-09-01

Revised date: 2021-10-14

Online published: 2022-04-15

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摘要

为提高茶鲜叶采摘机械的自动化水平以及采摘完整率,降低采茶机系统开发成本,缩短开发周期,本研究提出了机采茶蓬面割刀自动仿形方法和分布式快速控制原型机低成本开发方法,研制了仿形采茶样机,并开展室内和田间试验。仿形采茶机采用超声波传感器,感知往复式割刀与茶树蓬面间的距离信息,通过丝杆实现仿形传动;利用Hampel滤波和低通滤波算法对距离信息在线预处理,剔除叶间空缺和割刀振动对茶蓬面真实高度估计的影响。为避免PD控制中数字差分对信号噪声的放大,设计了基于非线性跟踪微分器的仿形控制律PNTD。基于CAN总线网络和代码生成技术,实现多执行单元的分布式快速控制原型机并开展试验,室内多次阶跃测试结果表明,系统响应最大峰值时间为0.14 s,最大超调量为3.6%;田间试验结果表明,割刀覆盖区嫩梢平均采收率92.01%,芽叶完整率82.6%,杂质率6.4%,一芽三叶及以下嫩梢占87.91%。研制的分布式控制仿形采茶原型机作业有效,所采茶鲜叶满足大宗茶机采技术标准和后续加工工艺要求。

关键词： 采茶机; 仿形; 分布式控制; 快速控制原型; 非线性跟踪微分器

本文引用格式

赵润茂 , 卞贤炳 , 陈建能 , 董春旺 , 武传宇 , 贾江鸣 , 毛明 , 熊永森 . 分布控制的乘坐式仿形采茶原型机研制与试验[J]. 茶叶科学, 2022 , 42(2) : 263 -276 . DOI: 10.13305/j.cnki.jts.2022.02.003

Abstract

To better realize the mechanized picking of ordinary fresh tea leaves, reduce the system development cost, and improve the automation level and picking integrity rate, a profiling method of machine-made tea canopy surface cutter and a development method of low-cost and rapid control prototype machine with distributed control were both put forward in this study. Additionally, the profiling tea harvester prototype was developed and the indoor and field tests were launched. The profiling tea harvester uses ultrasonic sensor to sense the distance information from the reciprocating cutter to the tea canopy and realizes profiling transmission through screw rods. Then, Hampel filter and Low-pass filter algorithms are used to preprocess the distance information on-line to eliminate the influence of inter leaf vacancy and cutter vibration on the real height estimation of tea canopy surface. Meanwhile, a proportional nonlinear tracking differentiator (PNTD) control system based on nonlinear tracking differentiator was established in order to avoid the amplification of signal noise by digital difference in conventional PD control and improve the accuracy of profiling of each tea picking unit. Based on CAN bus network and code generation technology, the distributed fast control prototype with multiple execution units was realized and tested. The indoor step test results show that the maximum peak time of this control system was 0.14 s and the maximum overshoot was 3.6%. Finally, to verify the effectiveness of the distributed control profiling tea picking prototype, profiling picking experiments were conducted in the tea garden. The average picking rate of young shoots on the canopy covered by cutter was 92.01%,the integrity rate of buds and leaves was 82.6%, the impurity rate was 6.4%, and the young shoots with at least one bud and three leaves accounted for 87.91%. All the results demonstrate that the proposed methods had good performance and could be used for picking ordinary tea.

Key words： tea harvester; profiling; distributed; rapid control prototyping; nonlinear tracking differentiator

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