Research On Auto-steering Control Strategies Of Tractor Automatic Navigation System Based On CAN Bus

The tractor Automatic Navigation system is one of the key technologies that affect the development of Precision Agriculture.As an important part of Automatic Navigation system,Auto-steering is closely related to the quality of farm working.The main purpose of this issue is to verify the auto-steering control algorithms based on CAN bus at the DONGFENG 1004 tractor,which equipped with BDS,intelligent terminal,and navigation controller.The algorithms contain fractional order PID and fuzzy PID,which improve on PID algorithm.The one which simulated to be the best performance can be selected.Then finish the field test of tractor automatic navigation system combine with the automatic steering system hardware design.The main contents of this paper are as follows:1.The research purpose and technical route of this paper are presented after summarizing the research actuality about automatic navigation system,the application of CAN bus on agriculture vehicle,and the algorithms of automatic steering system.2.Modeling tractor dynamic,MATLAB/SimHydraulics based and transfer function based hydraulic steering system on the functional analysis of Automatic Navigation system and auto-steering system.3.Designing fractional order PID and fuzzy PID for auto-steering system on the normal PID algorithm,and verifying the three algorithms with the above models.4.Completing the structures of auto steering control algorithm structure platform,then designing the hardware and software of system according to ISO11783.5.Testing the auto-steering system.The test result indicates that the maximum lateral deviation of straight line is 2.8 cm,and auto steering control precision is 2.5 cm when the tractor at the speed of 4 km/h,which fulfill the farm-working requirements.