无沟铺管机水平状态检测方法研究

doi:10.13733/j.jcam.issn.20955553.2022.09.021

摘要/Abstract

摘要： V形犁式无沟铺管机为暗管排水控盐技术提供强有力的工程支撑。为解决无沟铺管机在施工时会出现以较快速度倾斜，导致挂载架摆动幅度偏大，而引起挂载架后下控制臂水平检测精度降低的问题，通过分析无沟铺管机组成结构及控制机构数学模型，提出了一种基于风险控制的自适应补偿水平检测方法。该算法使用Kalman滤波算法得到车架的水平倾角和挂载架后下控制臂的水平倾角两组检测值，通过无沟铺管机的控制结构特性，确定两组水平倾角的关系，然后利用后下控制臂纵向加速度，对后下控制臂水平检测准确性进行风险评估，根据评估的风险对该两组检测值进行自适应加权，获取较精确的水平倾角信息。经过静态检测试验表明了该方法前后方向最大波动幅度为0.858°，左右方向最大波动幅度为0.778°，能够满足无沟铺管机的检测需求；经过动态检测试验表明了该方法能够比原始方法提前10.8 s得到有效的目标倾斜角度，且检测的倾角与目标角度最大波动量为0.69°，波动范围较小，提高了后下控制臂动态水平检测精度和速度。

关键词: 无沟铺管机, 水平倾斜角度, 自适应, 风险控制

Abstract: The Vshaped plough trenchless pipe laying machine provides strong engineering support for concealed pipe drainage and salt control technology. In order to solve the problem that the trenchless pipe laying machine will tilt at a faster speed during construction, resulting in a large swing range of the mount frame and a reduction in the horizontal detection accuracy of the lower control arm behind the mount frame. By analyzing the structure of trenchless pipe laying machine and the mathematical model of control mechanism, an adaptive compensation level detection method based on risk control is proposed. The algorithm uses Kalman filtering algorithm to obtain two groups of detection values: the horizontal inclination of the frame and the horizontal inclination of the rear lower control arm of the mount. Through the control structure characteristics of trenchless pipe laying machine, the relationship between the two groups of horizontal inclination is determined. Then, the longitudinal acceleration of the rear lower control arm is used to assess the risk of the horizontal detection accuracy of the rear lower control arm. According to the assessed risk, the two groups of detection values are adaptively weighted to obtain more accurate horizontal inclination information. The static test results showed that the maximum fluctuation amplitude in the front and rear directions was 0.858°, the maximum fluctuation amplitude in the left and right directions was 0.778°. This system could meet the testing requirements of trenchless pipe laying machine. The dynamic detection test showed that this method could obtain the effective target tilt angle 10.8 s ahead of the original method. The maximum fluctuation between the detected inclination and the target angle was 0.69°, and the fluctuation range was small. This method improves the dynamic level detection accuracy and speed of the rear lower control arm.

Key words: trenchless pipe laying machine, horizontal tilt angle, adaptive compensation； risk control

中图分类号:

S222.5

朱宪良, 刘阳春, 孙梦遥, 赵士猛, 李阳, 贾晓峰. 无沟铺管机水平状态检测方法研究[J]. 中国农机化学报, 2022, 43(9): 151-157.

Zhu Xianliang, Liu Yangchun, Sun Mengyao, Zhao Shimeng, Li Yang, Jia Xiaofeng.. Research on level detection method of trenchless pipe laying machine[J]. Journal of Chinese Agricultural Mechanization, 2022, 43(9): 151-157.

参考文献

［1］　
王洪义, 王智慧, 杨凤军, 等. 暗管排盐关键技术的研究进展［J］. 黑龙江八一农垦大学学报, 2012, 24(5): 1-4， 20.

Wang Hongyi, Wang Zhihui, Yang Fengjun, et al．Research advance of covered pipe salt draining key technology ［J］. Journal of Heilongjiang Bayi Agricultural University, 2012, 24(5): 1-4， 20.

［2］　
王智慧, 王洪义, 杨凤军, 等. 利用暗管排盐技术改良盐碱地土壤盐分变化研究［J］. 河南科技, 2013(1): 203-204.

［3］　
于淑会, 刘金铜, 李志祥, 等. 暗管排水排盐改良盐碱地机理与农田生态系统响应研究进展［J］. 中国生态农业学报, 2012, 20(12): 1664-1672.

Yu Shuhui， Liu Jintong， Li Zhixiang， et al. Mechanism of salinealkali lands improvement of subsurface pipe drainage systems and agroecosystem response ［J］. Chinese Journal of EcoAgriculture, 2012, 20(12): 1664-1672.

［4］　
Ritzema H. Drainage principles and applications ［M］. Netherlands: International Institute for Land reclamation and Improve ment， Wageningen， 2006.

［5］　
De Wilde J. Productive capacity of trenching and trenchless machines when laying subsurface drains ［J］. Agricultural Water Management， 1992， 21(12): 45-56.

［6］　
Fouss J， Fausey N. Research and development of laserbeam automatic gradecontrol system on highspeed subsurface drainage equipment ［J］. Transactions of the ASABE, 2007, 50(5): 1663-1667.

［7］　
Fouss J L, Clark B. Dual RTKGPS systems on drainage plows ［C］. 2016 10th International Drainage Symposium Conferenc, Minneapolis, Minnesota. American Society of Agricultural and Biological Engineers，2016: 1-7.

［8］　
王丽丽, 胡小安, 伟利国, 等. 大型开沟铺管机自动控制系统的研制［J］. 机电工程, 2012, 29(12): 1448-1452, 1460.

Wang Lili, Hu Xiaoan, Wei Liguo, et al. Development of automatic control system on largesized trencher and pipelayer ［J］. Mechanical & Electrical Engineering Magazine, 2012, 29(12): 1448-1452, 1460.

［9］　
王丽丽. 大型开沟铺管机自动控制系统关键技术研究［D］. 北京: 中国农业机械化科学研究院, 2012.

Wang Lili. Research on key technology of automatic control system in largesized trencher and pipelayer ［D］. Beijing: China Academy of Agricultural Mechanization sciences, 2012.

［10］　
赵士猛. 基于RTK-BDS的无沟铺管机坡降控制系统研究［D］. 北京: 中国农业机械化科学研究院, 2021.

Zhao Shimeng. Research on gradient control system of trenchless pipe laying machine based on RTK-BDS ［D］. Beijing: Chinese Academy of Agricultural Mechanization Sciences, 2021.

［11］
赵博, 赵士猛, 马明, 等. 基于RTK-BDS的无沟铺管机作业高程控制系统研究［J］. 农业机械学报, 2021, 52(11): 394-401.

Zhao Bo, Zhao Shimeng, Ma Ming, et al. Research on working elevation control system of trenchless pipe laying machine based on RTK-BDS ［J］. Transactions of the Chinese Society of Agricultural Machinery. 2021, 52(11): 394-401.

［12］　
卜一晨, 黄欢, 秦海鹏, 等. 基于CAN总线的激光整平机控制系统［J］. 计算机与现代化, 2018(7): 58-61.

Bu Yichen, Huang Huan, Qin Haipeng, et al. A control system for laser leveling machines based on CAN bus ［J］. Computer And Modernization, 2018(7): 58-61.

［13］　
Miller N C, Knueven C J, Brown L C, et al. Grade control capability of a pull behind drainage plow ［C］. American Society of Agricultural and Biological Engineers, 2004.

［14］　
王娜, 张斌, 王琦, 等. 一种新型精密检测仪器结构及误差补偿方法［J］. 机床与液压, 2021, 49(18): 82-85.

Wang Na, Zhang Bin, Wang Qi, et al. Research on a new precision measuring instrument structure and error compensation method ［J］. Machine Tool & Hydraulics, 2021, 49(18): 82-85.

［15］
王锴磊, 吴跃. 用于倾角仪的加速度计偏值误差补偿技术［J］. 仪表技术与传感器, 2022(1): 45-48.

Wang Kailei, Wu Yue. Error compensation technology for inclinometer accelerometer bias ［J］. Instrument Technique and Sensor, 2022(1): 45-48.

［16］　
徐博, 王权达, 李盛新, 等. 基于马氏距离结合自适应滤波的协同定位方法［J］. 中国惯性技术学报, 2021, 29(5): 617-624.

Xu Bo, Wang Quanda, Li Shengxin, et al. Cooperative location method based on Mahalanobis distance and adaptive filter ［J］. Journal of Chinese Inertial of Technology, 2021, 29(5): 617-624.

［17］　
韩帅, 刘满禄, 张俊俊, 等. 基于两轮自平衡小车的模糊自适应补偿算法研究［J］. 机械设计与制造, 2020(9): 197-200.

Han Shuai, Liu Manlu, Zhang Junjun, et al. Algorithm study of fuzzy adaptive compensation based on selfbalancing twowheeled cart ［J］. Machinery Design & Manufacture, 2020(9): 197-200.

[1]	张矿伟;张少杰;曾德斌;李玉慧;. 一种基于双模糊控制理论的PID控制的温湿度系统设计及应用[J]. 中国农机化学报, 2021, 42(4): 55-60+175.
[2]	李喜武;徐博;袁月明;. 自适应模糊PID算法仔猪床温度控制系统研究[J]. 中国农机化学报, 2020, 41(10): 48-53+73.
[3]	陈艳普;滕悦江;郭飞扬;宁新杰;金诚谦;印祥;. 联合收割机纵轴流脱粒系统研究进展[J]. 中国农机化学报, 2019, 40(9): 13-19.
[4]	李晓静;余东满;. 基于自适应蚁群算法的农用智能机器人路径规划[J]. 中国农机化学报, 2019, 40(9): 189-193.
[5]	张光跃;金诚谦;. 基于云平台设施种植监测系统设计[J]. 中国农机化学报, 2019, 40(6): 140-144.
[6]	霍迎秋;张晨;李宇豪;智文涛;张炯;刘景玲;. 高光谱图像结合机器学习方法无损检测猕猴桃[J]. 中国农机化学报, 2019, 40(4): 71-77.
[7]	阮承治;赵德安;陈旭;杨君;姬伟;孙月平;. 双指型农业机器人抓取球形果蔬的控制器设计[J]. 中国农机化学报, 2019, 40(11): 169-175.
[8]	王浩;董振振;赵景波;唐勇伟;段杰;. 基于改进自适应加权融合算法的土壤湿度监测研究[J]. 中国农机化学报, 2019, 40(1): 152-155.