农用拖拉机智能驾驶系统的应用研究  

Application Research on the Intelligent Driving System of Agricultural Tractor

作　　者：许文靖[1] 梁季彝[1] 方镕城 Xu Wenjing;Liang Jiyi;Fang Rongcheng(Jiangmen Polytechnic,Jiangmen 529000,China)

机构地区：[1]江门职业技术学院,广东江门529000

出　　处：《农机化研究》2022年第10期253-257,共5页Journal of Agricultural Mechanization Research

基　　金：广东省自然科学基金项目(2018A030313196)。

摘　　要：为提升我国拖拉机的智能控制精度与整机作业效率,充分考虑其田间作业环境与作业功能多样性特点,针对其驾驶系统展开智能化研究。在拖拉机智能驾驶组成控制原理的基础上,以实现驾驶转向精准与速度位姿获取精准为设计目标,结合核心控制算法布局,建立智能驾驶控制模型,并进行系统软件控制架构设计与硬件功能选型。按照拖拉机驾驶作业的轨迹处理流程展开智能作业试验,结果表明:在一定的试验条件下,优化后的拖拉机智能驾驶系统平均加速时间可维持在3.75s左右,车速平均控制误差较之前有所降低,控制精度得到提高,自动驾驶轨迹正确率可保持在90%以上,整机作业效率可相对提高6.57%,系统运行平稳可靠,可为我国农业机械智能化提供参考。In order to improve the intelligent control accuracy and overall operation efficiency of the agricultural tractor in China,the driving system of the agricultural tractor was studied with full consideration of their field operation environment and operation function diversity.Based on the control principle of intelligent driving composition of the agricultural tractor,the intelligent driving control model was established by combining with the layout of core control algorithm,then through the system software control architecture design and hardware function selection,the intelligent operation test was carried out according to the trajectory processing flow of the tractor driving operation,and the results showed that:under certain test conditions,the average acceleration time of the optimized tractor intelligent driving system could be maintained at about 3.75s,the average control error of tractor speed was reduced,the control accuracy was improved,the automatic driving track accuracy could be maintained above 90%,and the operation efficiency of the whole tractor could be increased by 6.57%.The system run stably and reliably,this would provide some good references for the intelligent optimization of the similar agricultural machinery in China.

关 键 词：拖拉机 智能驾驶 轨迹正确率 控制算法 

分 类 号：S219.032.3[农业科学—农业机械化工程]