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虾蟹池塘自动投饲平台航向控制系统设计与试验

Design and Test of Heading Control System for Automatic Course Platform of Shrimp and Crab Pond

Advance in Agriculture Science / 2019,1(2): 59-70 / 2019-11-22 5343 8552

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• Authors: 唐荣*  刘世晶
• Information:

  中国水产科学研究院渔业机械仪器研究所，上海

• Keywords:
  Automatic Feeding; Relative Course; PID Control Algorithm
  自动投饲; 相对航向; PID 控制算法
• Abstract: In this paper,a course control system is designed to keep the course stable during the operation of automatic feeding platform for shrimp and crab pond. The relative course between the feeding platform and the pond bank is monitored simultaneously by direct and indirect methods. The PID control algorithm based on the negative feedback principle is adopted, taking the relative course as the control target, and the control output is calculated in real-time according to the course deviation. The control output signal adjusts the rotation speed of the left and right propellers through the control circuit, so as to change the thrust on both sides of the platform and realize the real-time control of the course. The prototype test showsthat the system can control the relative course of the feeding platform well, keep the forward direction basically parallel to the pond bank, so as to meet the feeding operation needs. 本文针对虾蟹池塘自动投饲平台作业过程中保持航向稳定的需要设计了航向控制系统，通过直接测量法和间接测量法同时监测投饲平台与池塘堤岸之间的相对航向，采用基于负反馈原理的PID控制算法，以相对航向为控制目标，根据航向偏差实时计算控制输出量。控制输出信号经由控制电路调整左右两台螺旋桨推进器的转速，从而改变平台两侧推力，实现对航向的实时控制。样机 试验表明该系统可以很好地控制投饲平台的相对航向，保持前进方向与池塘堤岸基本平行，满足投饲作业需要。
• DOI: https://doi.org/10.35534/aas.0102006
• Cite: 唐荣，刘世晶．虾蟹池塘自动投饲平台航向控制系统设计与试验［J］．农业科学进展，2019，1（2）：59-70．
  https://doi.org/10.35534/aas.0102006