轮式农业机械自动转向控制系统研究

以日本久保田SPU－60型插秧机为对象进行轮式农业机械自动转向控制研究，提出了基于速度的自适应PD控制方法，利用航向偏差作为控制器输入，控制器可根据插秧机行进速度在线调整其PD参数，进而输出前轮期望偏角。仿真和试验结果表明，该方法可以较好地适应农业机械作业速度的变化，提高其转向的快速响应特性和稳定性，航向跟踪效果好。该研究为进一步开展轮式农业机械自动导航控制研究提供了依据。

Automatic steering control system of wheeled model farming machinery

The automatic steering control system of SPU-60 rice transplanter was studied in this paper. The control system included steering controller and driving mechanism. Adaptive PD control algorithm was developed for orientation tracking. The orientation error was used as the input parameter of the controller. The output parameter of the controller was the steering angle of front-wheels. Proportional coefficient of the controller could be adjusted automatically according to the velocity. Simulation and experimental results showed that the control algorithm could be used for orientation tracking. Adaptive PD controller has good orientation tracking performance. The automatic steering control system could be the base of trajectory tracking control of wheeled model farming machinery.