林木联合采育机的时间-能量综合最优轨迹规划与控制方法研究

项目名称： 林木联合采育机的时间-能量综合最优轨迹规划与控制方法研究

项目编号： No.31300596

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 农业科学

项目作者： 郑一力

作者单位： 北京林业大学

项目金额： 23万元

中文摘要： 林木联合采育机是一种高性能先进林业装备，可在人工干预下完成采伐、打枝、去皮、造材等连续作业，申请人所在项目组研制成功了国内首台多功能林木联合采育机，在其实验中发现：联合采育机的打枝、去皮、造材环节可快速完成，但将伐木头对准和捕获立木的环节需要操作员做出大量观测判断和反复对准，造成单位采伐周期内无功时间加长；同时液压采伐臂的往复对准运动和液压缸不合理动作轨迹，造成了系统的燃料损耗，增加了作业成本，制约了联合采育机推广应用。本项目以前期开展的立木激光测量和基于激光导引的采伐臂作业轨迹规划为基础，以高效自主和低耗节能的人工林采伐为目标，建立多自由度液压采伐臂的动力学数学模型，运用时间-能量最优化方法开展液压采伐臂的作业轨迹规划与控制策略理论研究，并进行半实物仿真和样机实验，实现伐木头对目标立木的低耗快速对准和捕获，解决目前林木采育机无功时间长和燃料损耗大问题，进一步提升其作业效率并降低使用成本。

中文关键词： 林木联合采育机；激光测量；轨迹规划；虚拟仿真；

英文摘要： Logging harvester is a set of high-performance modern forestry machinery, which can finish a series of continuous operations such as felling, delimbing, peeling, bucking and so forth with manual intervention. The research group which the applicant is in has successfully developed the first domestic multifunctional forestry felling & cultivation machine. It is found in the experiment that: the process of delimbing, peeling, and bucking can be completed fast by the logging harvester, but for the process of the alignment of logging head and capturing trees, the operator needs a lot of observation, judgment and repeating operation, which results in the no-effect time inceasing in one operation cycle; simultaneously, the re-alignment process and unreasonable action of hydraulic cylinderjoints during the working process cause the losses of the fuel in the system, increase operating costs and hinder the promotion of logging harvester. This research is based on previous study on the laser measurement for harvesting trees and trajectory planning of harvesting manipulator based on laser-guided, and in order to realize the efficient autonomous and low-consumption economical harvesting. Dynamics model of multi-DOF harvesting manipulator will be given, time-fuel optimal trajectory planning and control strategies for hydraul

英文关键词： Logging harvester；Laser measurement；Path planning；Virtual simulation；