遥控插秧机自动转向系统设计与试验

以久保田NSD8型插秧机为研究平台,在保证现有转向机构可用性的前提下,设计了一种遥控自动转向系统。该系统主要由转向执行机构、单片机控制单元、遥控发送接收装置、角度传感器、步进电动机等部分组成,可实现插秧机转向的遥控自动控制。利用该系统进行了遥控插秧机自动转向性能测试试验,通过检测系统获得的试验数据以系统识别的方法获得执行系统的传递函数,并分析了系统性能,分析表明该自动转向系统可实现插秧机整机遥控操作。同时分别进行了180°和90°平地转向试验,试验表明自动转向系统可以实现预定田间工作轨迹转向操作过程。

Design and Test on Remote Rice Transplanter Automatic Steering System

In order to improve the transplanter automatic operation level and realize remote automatic control of steering operation, with the Kubota NSD8 rice transplanter as the study platform, and under the condition of guarantee the usability of existing steering mechanism, a kind of remote automatic steering system was designed. The system mainly comprised steering actuator and microcomputer control unit, remote transmitter installation and receiver installation, angle sensor, and stepping motor. The system can realize remote automatic control of rice transplanter steering. Experiment on automatic steering performance of remote transplanter was accomplished by the system, transfer function of the steering actuator system was gained via experimental data and exploiting the way of system identification, and the system performance was analysed. The analysis showed that automatic steering system can provide reliable guarantee for realizing remote rice transplanter. It was tested about 180° and 90° of flat ground steering, test showed that automatic steering system can realize steering operation process of field work track predetermined.