In view of the shortcomings of the suspension mobile sprinkler and the shortage of AGV research in the largesize greenhouse area, a navigation control system for the new greenhouse ground mobile irrigator was designed. The steering mode of the chassis was differential steering and there were six wheels installed on the chassis. Two driving wheels were installed on the center of the chassis symmetrically and four universal wheels were installed on the front end and the rear end of the chassis symmetrically. A STM32F103ZET6 microcontroller was adopted as the main control chip and the tape navigation was adopted as the navigation mode. The motion mathematical model of the irrigator was established and the motion controller was designed according to the fuzzy control theory. Besides, the navigation motion control subroutine was designed as well. The result of the model machine running test showed that when the initial offset angle of the irrigator and the tape was less than 25°, the magnetic sensor center would overlap with the tape center again as a result of the adjustment of the controller and the adjustment time increased with the initial offset angle. When the initial offset angle was too big, the model machine would leave the tape path at last. In order to ensure that the irrigator can adjust itself automatically at the beginning of the work and travel along with the tape path, the initial offset angle should not be too big. This research can provide a reference for design and application of largesize greenhouse ground mobile irrigator.
PAN Jian-Dong,LI Wei,ZHANG Kang-Cheng et al. Design of navigation control system for largesize greenhouse ground mobile irrigator[J]. Journal of Drainage and Irrigation Machinery Engin, 2019, 37(2): 179-184.
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