農用履帶車輛自動導引控制之研究

本研究完成履帶式自走載具及PC-based控制系統之裝設及導引性能試驗，履帶載具為後輪驅動式，履帶底盤由橡膠履帶、齒輪式變速箱及6馬力汽油引擎所構成；PC-based控制系統採用LabVIEW軟體開發圖控程式，擷取GPS接收儀及方位角感測器訊號，控制主離合器及轉向離合器之動力離合。載具導引控制程式擷取履帶載具之位置及方位角，計算目標點之距離與方位角，依照方位角誤差值及距離導引載具行進，當載具到達目標點附近且符合距離差在1 m以內，停止載具前進，完成二點間的導引定位控制。試驗結果顯示，應用差分修正定位訊號，其定位誤差小於1 m，車體在起點時無論朝向任何方向，控制系統均能判斷方位角誤差方向，正確控制車體轉向，朝目標點前進。方位角感測器CXM543裝設高度對雜訊干擾之影響較大，裝在車體上層底板100 cm高度處，可以減少干擾。CXM543方位角感測器於車體行進間之方位角誤差值為16°，穩定性比TCM2的30°為佳，有效改善導引控制系統的輸入訊號品質。無差分修正之GPS定位訊號之誤差達3 m以上，不適合用於車體導引控制，車體導引定位控制之定位訊號若為穩定的差分修正或更高精度之RTK相位載波定位訊號，更能夠有效地導引控制載具。

關鍵字

自動導引履帶載具；差分全球衛星定位系統；方位角感測器

並列摘要

The study of a track vehicle with the PC-based control system was conducted. This vehicle consists of a chassis, two sprockets, two rubber tracks, a transmission and a six-hp gasoline engine. The power is transmitted by rear-wheel sprockets. The software of the PC-based control system was coded in LabVIEW graphical programming language. The system detected the signals from the GPS receiver and the CXM543 orientation sensor. According to the data of position and orientation, the system actuates the clutches and guides the vehicle to the target point. It will stop when the distance from the target point is less than one meter. The results showed that this prototype vehicle could reach target point and stop thereafter, whatever the azimuth of vehicle at start position. The orientation sensor can reduce noise interference while it is fixed at 100 cm height. The azimuth error of CXM543 is 16°, when vehicle is moving. Its stability is better than TCM2's 30°. This design can improve the performance of control system. The positioning error of GPS with differential is less than 1 m, and the positioning error of GPS without differential is greater than 3 m. The latter is not practical in autonomous vehicle guidance. Therefore, the steady DGPS or higher RTK with carry phase receiver should be used to guide autonomous vehicle effectively.

並列關鍵字

autonomous track vehicle ； DGPS ； orientation sensor

國際替代計量

農用履帶車輛自動導引控制之研究

全文下載

主題瀏覽