DOI:10.6041/j.issn.1000-1298.2024.08.001![]()
摘要:农业环境中农业装备时常发生行驶滑动现象且具有明显不确定性，滑动现象使行驶机构处于不可控状态，从而影响作业精度，严重阻碍了种植、中耕管理和收获等需要精准作业环节的农业装备信息化及智能化发展。本文从滑动原理、滑动辨识及行驶滑动控制方面，分别对滑动力学特性、滑动辨识方法和考虑滑动的路径跟踪控制的国内外研究现状进行综述。滑动原理方面，着重阐述了针对不同行驶机构的结构特点和行驶地面环境建立的多种行驶机构与地面的系统模型。滑动辨识方面，分别对基于数学模型和基于数据驱动两类方法进行分析，揭示各方法优势与局限性。行驶滑动控制方面，重点归纳了应用于农业装备的路径跟踪控制方法，指出了目前行驶滑动控制研究方法局限性。最后，指出行驶滑动辨识研究对于农业装备自动化发展具有重要意义，未来农业装备行驶滑动研究可以从滑动力学理论模型、滑动实时辨识方法、行驶滑动控制方法等方面开展深入研究。
关键词:农业装备;行驶滑动;路径跟踪控制;滑动辨识
State-of-the-art and Prospect on Sliding Identification and Control of Agricultural Machinery
Abstract:When agricultural machinery is driving in an agricultural environment, it is inevitable that common slip phenomena will occur and have obvious uncertainty. It has seriously hindered the development of agricultural machinery informatization and intelligence in planting, mid-tillage management and harvesting, which require precise operation. The current status of domestic and international research on sliding dynamics properties, sliding identification methods and path tracking control considering sliding were reviewed from three aspects, namely, sliding principle, sliding identification and traveling sliding control, respectively. Among them, researches about the sliding principle focused on the structural characteristics and driving ground environment of different steering mechanisms established by domestic and foreign scholars, and the models of various steering mechanisms and ground system were established. The sliding identification method was divided into two categories based on mathematical model and data-driven method, and the advantages and limitations of each method were discussed. Researches about the driving sliding control focused on the path following control method applied to agricultural machinery, and the limitations of the current driving sliding control were pointed out. Finally, it was pointed out that the research on driving slip detection was of great significance to the development of agricultural machinery automation, and it provided directional suggestions for the research on driving slip detection and control of agricultural machinery.Key words:agricultural equipment; driving sliding; path tracking control; sliding identification![]()
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