拖拉机旋耕机组路径导航控制方法——基于机具侧向力限制  

Path Navigation Control Method of Tractor Rotary Cultivator Group Based on Lateral Force Limitation

作　　者：唐昊 韩江义[1] 颜兴祥 Tang Hao;Han Jiangyi;Yan Xingxiang(School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212000,China)

机构地区：[1]江苏大学汽车与交通工程学院,江苏镇江212000

出　　处：《农机化研究》2024年第7期32-37,共6页Journal of Agricultural Mechanization Research

基　　金：苏北科技专项-先导性项目(SZ-YC202165)。

摘　　要：拖拉机作为自走式农用动力机械,只有配备相应的农机具才能完成机械作业。近年来,关于拖拉机自动导航控制的研究大多将拖拉机看做独立的个体,没有考虑控制过程中农机具的受力情况。为此,以旋耕拖拉机为平台,提出了一种基于拖拉机横向位置偏差与旋耕机具侧向受力大小的双目标联合路径跟踪控制方法,并应用CarSim与MatLab/Simulink进行联合仿真。仿真结果表明:该控制方法能够保证旋耕机具的侧向受力稳定在限值以内,并且拖拉机的路径跟踪精度较高。Tractor as a self-propelled agricultural power machinery,only equipped with the corresponding agricultural machinery can complete mechanical operation.In recent years,most of the researches on automatic navigation control of tractors regard tractors as independent individuals,without considering the stress of agricultural machinery and tools in the control process.In this paper,a dual-objective joint path tracking control algorithm based on the lateral position devia-tion of the tractor and the lateral force of the rotary cultivator is proposed on the platform of the rotary tractor.CarSim and Matlab/Simulink are used to carry out co-simulation.The simulation results show that the control algorithm can ensure that the lateral force of the rotary cultivator is stable within the target value and the path tracking accuracy is high.

关 键 词：拖拉机旋耕机组 导航控制 农机具侧向受力 路径跟踪 

分 类 号：S219.0[农业科学—农业机械化工程] S127[农业科学—农业工程]