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《Transactions of the Chinese Society for Agricultural Machinery》 2014-07
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Design of Nonlinear Leveling Control System for Paddy Land Leveler

Chen Junmei;Zhao Zuoxi;Chen Jiaqi;Yu Long;Ye Juan;Guangdong Institute of Science and Technology;Key Laboratory of Key Technology on Agricultural Machine and Equipment,Ministry of Education,South China Agricultural University;  
A leveling control system is necessary for keeping the plow level during the laser-controlled paddy field leveler's operation. A nonlinear double closed-loop control scheme is proposed to minimize the overshooting in the controlled inclination angle,where the angular speed control and inclination angle of the plow are controlled in the inner and outer loop,respectively. The overshooting minimization is achieved by manipulating the angular speed of the plow according to the remaining path nonlinearly to the level position so that the plow approaches to the level position with zero angular speed. Also included are the hydro-mechanical plant's transfer function analysis for the leveler and the overall control system design. Such an control system was implemented incorporating AHRS( heading and heading reference system) and TMS320F28035 microcontroller,and lab and field tests with a prototype paddy land leveler show that the plow would respond to leveling error quickly,returning to the level position asymptotically with a maximum leveling deviation within ± 1°.
【Fund】: 广东省自然科学基金资助项目(S2012010010990);; 引进国际先进农业科学技术计划(948计划)重点项目(2011-G32)
【CateGory Index】: S222.51
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