接触式拖拉机导航控制系统

为提高接触式拖拉机导航系统性能和导航精度,针对玉米秸秆行间作业,设计了双层控制器接触式导航控制系统.在分析接触式导航传感器检测信号的基础上,以触杆转角为输入、前轮目标转角为输出设计了模糊控制器作为导航控制的上层控制.下层控制针对电液系统的非线性,采用带非线性补偿的PID控制器实现对拖拉机前轮转向角的控制.该导航控制方法在Matlab/Simulink平台上进行了仿真,导航控制系统在秸秆行间进行了试验验证.仿真和田间试验结果表明,导航控制算法的响应快、稳定性好.当行驶速度不超过1 m/s时,拖拉机导航精度在50 mm以内,平均误差15 mm,能满足玉米秸秆行间作业要求.

Automatic Guidance Control System of Tractors with Contact Sensor

To improve the performance and accuracy of automatic guidance system with contact sensor, a guidance control system of tractor with two-level controller was designed for the maize stubble inter- row tracking operation. High level controller using fuzzy control algorithm was developed based on signal analysis of contact sensor. In fuzzy controller, the input was angle of feeler and the output was desired steering angle of front wheel. PID algorithm with nonlinear compensation was adopted as low level controller to implement tractor steering angle control, which took nonlinear of electrohydraulic system into consideration. The control algorithm was simulated with Matlab/Simulink tool and experimented by tractor guidance control system in stubble rows field. The results show that the response and stability of control algorithm are effective in auto-steering of tractor. The guidance accuracy of control system with two-level controller can meet the requirement of inter-row operation by 50 mm as maximal track error and 15 mm as average track error.