拖拉机自动转向系统设计研究

在对自动转向系统研究方案进行详细论证的基础上,提出步进电机输出轴固定有摩擦装置,驱动拖拉机转向盘转向控制系统。该转向系统由上位机(笔记本电脑)、下位机(转向控制器)、步进电机、步进电机驱动器、角位移传感器、摩擦轮等装置组成。系统工作时,上位机调出预存的期望路径与定位传感器接收的当前位置信号进行比较,得到期望路径相对于当前位置的偏差信号,将偏差信号发送到下位机(转向控制器),通过控制算法计算得到步进电机转向和转速的控制信号从而执行转向,缩小偏差。

Design and Study of Tractor Automatic Steering System

This paper carried out the detailed arguments about automatically steering. A friction device is fixed on output shaft of step motor,which is used for driving steering control system of tractor steering wheel. This system consists of upper computer,lower computer, step motor, step motor drive, angular displacement sensor, friction wheel and so on. When working in the system,upper computer decruits pro-stored path, compares it with current position signal received by alignment sensor, obtains a deviation signal of expected path in contrast to current position,sends the deviation signal to lower computer. Based on control algorithm,the speed and steering control signals of step motor are calculated and obtained to cont,＇ol steering and reduce the deviation.