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农用拖拉机直线导航设计,14000字自己的毕业设计，原创，仅在本站独家提交，大家放心使用摘要 随着农业生产要求的提高，拖拉机在田间的作业速度越来越快，作业幅度越来越宽，要求拖拉机驾驶员能够精准的按照预定路线行走的同时，还要保证实时进行变化量的投入。这无疑给驾驶员带来了很大的劳动强度，从而降低了工作效率。因此，人们迫切要求...
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农用拖拉机直线导航设计
14000字
自己的毕业设计，原创，仅在本站独家提交，大家放心使用
摘要 随着农业生产要求的提高，拖拉机在田间的作业速度越来越快，作业幅度越来越宽，要求拖拉机驾驶员能够精准的按照预定路线行走的同时，还要保证实时进行变化量的投入。这无疑给驾驶员带来了很大的劳动强度，从而降低了工作效率。因此，人们迫切要求能够最大程度的提高农用机械的工作效率，降低人工操作难度。农用拖拉机直线导航技术主要是通过传感器对车体本身位置信息实施检测，然后根据检测获得的信号自主地进行路线的规划与障碍的躲避，勘测定位和控制系统的稳定性，经过控制转向系统使拖拉机沿规划的路线自动行驶从而实现自动导航。在现代农业生产中, 国内外对农用拖拉机直线导航技术的应用越来越广泛。本文主要研究的是基于线性扰动观测器下的农用拖拉机的直线导航，线性扰动观测器，顾名思义是经过将外部扰动及模型参数的转变造成的实际目标和名义模型输出的差别等效到控制输入端，即检查出等效干扰，然后在控制过程中引入等效补偿，实现对干扰的完全抑制。主要研究工作如下：
首先，介绍了导航的分类和目前研究农用拖拉机导航常用的方式。其次，我们建立了农用拖拉机的数学模型，为控制系统的设计奠定了理论基础。最后，我们设计了合理线性扰动观测器，实现了对农用拖拉机直线行驶的实时控制，并用仿真软件做了相应的仿真。
关键词：线性系统; 扰动观测器; 拖拉机导航
Agricultural tractors straight navigation based on linear disturbance observer
Abstract: With the improvement of the operational requirements of the harvest, agricultural machinery in the field of operating speed faster and faster, more wide operating range, requiring the pilot to accurately agricultural machinery while walking along a predetermined route, but also to ensure the real-time variable inputs. This will undoubtedly bring a lot to the driver 's labor intensity, thereby reducing the efficiency of labor. Therefore, it is urgently requires the ability to maximize the efficiency of agricultural machinery, reducing the difficulty of manually operated. Automatic navigation technology mainly through the body 's own position and orientation sensor information to detect , independently path planning and obstacle avoidance detection based on the information obtained, the stability of the probe positioning and control system by controlling the steering system so that the body along the planned route Auto travel in order to achieve the automatic navigation. In modern agricultural production, domestic and agricultural machinery for automatic navigation control technology more widely. This paper studies the linear disturbance observer agricultural tractors under linear navigation based on the linear disturbance observer, suggests that it is by the difference between the actual object and external disturbances caused by changes in the model parameters and nominal model output equivalent to the control input, i.e., the equivalent disturbance observer, and then introducing the equivalent compensation control, to achieve complete suppression of interference. The main work is as follows:
Firstly, the classification and navigation methods currently used in the study of agricultural tractors navigation are introduced. Secondly, we establish a mathematical model of agricultural tractors, and the design of the control system has laid a theoretical foundation. Finally, we design a rational linear disturbance observer, to achieve a real-time control of the farm tractor driving straight, and use simulation software to do the corresponding simulation.
Key words：Linear system; disturbance observer; tractor navigation
目录
第一章 绪论 1
1.1研究背景 1
1.2导航的概念及分类 2
1.3农用拖拉机导航的目的意义 3
1.4农用拖拉机导航研究常用的方式 4
1.4.1信标导航 4
1.4.2视觉导航 5
1.4.3基于自适应模糊控制下的导航 5
1.4.4基于饱和方式的直线路径跟踪导航 6
1.4.5基于PID控制的方式 7
1.4.6多传感器融合的控制器 8
1.4.7线性扰动观测器 8
第二章 系统建模及问题分析 8
2.1系统建模 9
2.2扰动观测器的基本原理 11
2.2.1扰动观测器的主要应用 11
2.2.2频域下的扰动观测器 12
2.2.3时域下的扰动观测器 14
第三章 问题的分析与解决方式 17
3.1赫尔维茨判据（Hurwitz） 17
3.2时域下的扰动观测器设计 19
第四章 系统仿真 22
4.1农用拖拉机直线行驶仿真 22
结论 25
致谢 26
参考文献： 27
14000字
自己的毕业设计，原创，仅在本站独家提交，大家放心使用
摘要 随着农业生产要求的提高，拖拉机在田间的作业速度越来越快，作业幅度越来越宽，要求拖拉机驾驶员能够精准的按照预定路线行走的同时，还要保证实时进行变化量的投入。这无疑给驾驶员带来了很大的劳动强度，从而降低了工作效率。因此，人们迫切要求能够最大程度的提高农用机械的工作效率，降低人工操作难度。农用拖拉机直线导航技术主要是通过传感器对车体本身位置信息实施检测，然后根据检测获得的信号自主地进行路线的规划与障碍的躲避，勘测定位和控制系统的稳定性，经过控制转向系统使拖拉机沿规划的路线自动行驶从而实现自动导航。在现代农业生产中, 国内外对农用拖拉机直线导航技术的应用越来越广泛。本文主要研究的是基于线性扰动观测器下的农用拖拉机的直线导航，线性扰动观测器，顾名思义是经过将外部扰动及模型参数的转变造成的实际目标和名义模型输出的差别等效到控制输入端，即检查出等效干扰，然后在控制过程中引入等效补偿，实现对干扰的完全抑制。主要研究工作如下：
首先，介绍了导航的分类和目前研究农用拖拉机导航常用的方式。其次，我们建立了农用拖拉机的数学模型，为控制系统的设计奠定了理论基础。最后，我们设计了合理线性扰动观测器，实现了对农用拖拉机直线行驶的实时控制，并用仿真软件做了相应的仿真。
关键词：线性系统; 扰动观测器; 拖拉机导航
Agricultural tractors straight navigation based on linear disturbance observer
Abstract: With the improvement of the operational requirements of the harvest, agricultural machinery in the field of operating speed faster and faster, more wide operating range, requiring the pilot to accurately agricultural machinery while walking along a predetermined route, but also to ensure the real-time variable inputs. This will undoubtedly bring a lot to the driver 's labor intensity, thereby reducing the efficiency of labor. Therefore, it is urgently requires the ability to maximize the efficiency of agricultural machinery, reducing the difficulty of manually operated. Automatic navigation technology mainly through the body 's own position and orientation sensor information to detect , independently path planning and obstacle avoidance detection based on the information obtained, the stability of the probe positioning and control system by controlling the steering system so that the body along the planned route Auto travel in order to achieve the automatic navigation. In modern agricultural production, domestic and agricultural machinery for automatic navigation control technology more widely. This paper studies the linear disturbance observer agricultural tractors under linear navigation based on the linear disturbance observer, suggests that it is by the difference between the actual object and external disturbances caused by changes in the model parameters and nominal model output equivalent to the control input, i.e., the equivalent disturbance observer, and then introducing the equivalent compensation control, to achieve complete suppression of interference. The main work is as follows:
Firstly, the classification and navigation methods currently used in the study of agricultural tractors navigation are introduced. Secondly, we establish a mathematical model of agricultural tractors, and the design of the control system has laid a theoretical foundation. Finally, we design a rational linear disturbance observer, to achieve a real-time control of the farm tractor driving straight, and use simulation software to do the corresponding simulation.
Key words：Linear system; disturbance observer; tractor navigation
目录
第一章 绪论 1
1.1研究背景 1
1.2导航的概念及分类 2
1.3农用拖拉机导航的目的意义 3
1.4农用拖拉机导航研究常用的方式 4
1.4.1信标导航 4
1.4.2视觉导航 5
1.4.3基于自适应模糊控制下的导航 5
1.4.4基于饱和方式的直线路径跟踪导航 6
1.4.5基于PID控制的方式 7
1.4.6多传感器融合的控制器 8
1.4.7线性扰动观测器 8
第二章 系统建模及问题分析 8
2.1系统建模 9
2.2扰动观测器的基本原理 11
2.2.1扰动观测器的主要应用 11
2.2.2频域下的扰动观测器 12
2.2.3时域下的扰动观测器 14
第三章 问题的分析与解决方式 17
3.1赫尔维茨判据（Hurwitz） 17
3.2时域下的扰动观测器设计 19
第四章 系统仿真 22
4.1农用拖拉机直线行驶仿真 22
结论 25
致谢 26
参考文献： 27
