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中国农学通报

中国农学通报 ›› 2016, Vol. 32 ›› Issue (17): 176-180.doi: 10.11924/j.issn.1000-6850.casb16040042

所属专题： 农业工程

• 工程 机械 水利 装备 • 上一篇    下一篇

履带式拖拉机自动驾驶系统路径智能跟踪控制研究

谭德权,蒋蘋,罗亚辉,胡文武   

  1. 湖南农业大学,湖南农业大学,湖南农业大学,湖南农业大学
  • 收稿日期:2016-04-07 修回日期:2016-04-26 接受日期:2016-04-27 出版日期:2016-06-20 发布日期:2016-06-20
  • 通讯作者: 蒋蘋
  • 基金资助:
    “十二五”农村领域国家科技计划课题“杂交水稻田间管理机械化关键技术研究”(2014BAD06B07-1)

Intelligent Path Tracking and Control for Automatic Driving System of Crawler Tractor

  • Received:2016-04-07 Revised:2016-04-26 Accepted:2016-04-27 Online:2016-06-20 Published:2016-06-20

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摘要： 为实现复杂环境下履带式拖拉机田间作业的路径跟踪控制，设计了履带式拖拉机自动驾驶系统，并对路径跟踪与控制算法进行了研究。自动驾驶系统由MCU、双源激光定位系统、速度控制系统、点火/熄火控制系统、液压转向系统等组成。采用模糊算法对行驶过程中的路径偏差进行补偿，实现对路径的跟踪控制。为验证算法的有效性，进行了Matlab/Simulate仿真与田间试验。结果显示对于NF502型履带拖拉机，该系统在100 m范围内可实现有效控制，表明该算法能实现对行驶路线跟踪与控制。

关键词: 多效唑, 多效唑, 矮壮素, 百合, 试管苗

Abstract: In order to realize the path tracking and control of crawler tractor in the field under the complex environment, an automatic driving system was designed and the tracking algorithms of this system were studied. The automatic driving system contained MCU, double laser positioning system, speed control system, ignition/extinction control system, and hydraulic steering system, etc. To track and control the route of crawler tractor, fuzzy algorithm was used to compensate the deviation of the traveling process. Matlab/Simulate simulation and field experiment were made for testing the algorithm and results show that it can control the NF502 crawler tractor effectively within 100m，and it proved that the algorithm can track and control the crawler tractor’s route.