Research On Field Management Machine Assisted Driving System Based On Beidou Navigation

With the improvement of the level of agricultural mechanization,there is a demand for the development of agricultural machinery in China towards the development of agricultural precision operations and informatization.The key technologies include the research goals of Beidou navigation assisted driving system.Therefore,this paper carried out the research and design of the Beidou navigation field management machine-assisted driving system based on the Beidou navigation field,and applied modern technologies such as mechanical structure design,hydraulic technology,and embedded automatic control development,which provided a better future for the development of agricultural machinery.By extensive reading of relevant documents and books on agricultural machinery assisted driving system design,path planning,and path tracking,there is in-depth understanding of the current deficiencies and research priorities of agricultural machinery assisted driving technology at home and abroad.Combined with the characteristics of the field management machine in this article,the design plan of the auxiliary driving system of the field management machine in the southern paddy field has been analyzed and clarified.This article has conducted in-depth research on the field management machine assisted driving system based on Beidou navigation,combining intelligent technologies such as Beidou satellite positioning technology,embedded software and hardware development,and assisted driving control technology.The main research contents are as follows:(1)The research status of domestic and foreign agricultural machinery automatic driving systems is elaborated,mainly including automatic steering technology,path planning technology,navigation and positioning technology,and path tracking control methods.And on this basis,the research content of the assisted driving system based on Beidou navigation field management machine is proposed.(2)An overview of the Beidou navigation assisted driving system of the field management machine,mainly aimed at the structural design of the field management machine,the hardware and software solutions of the assisted driving system.Based on the design of the four-wheel independent steering structure of the field management machine,it completes the analysis of the hardware requirements of the auxiliary driving system and completes the selection of relevant hardware.At the same time,the software control process analysis of the assistant driving system was completed.(3)The hydraulic system design of the field management machine is introduced in detail,which is mainly divided into walking hydraulic system and steering hydraulic system.Among them,the walking hydraulic system realizes vehicle speed control through the variable pump’s own control characteristics;the steering hydraulic system is designed with a combination of a three-position four-way electromagnetic directional valve and a two-position three-way bypass valve,and uses angle sensors for negative feedback of the rotation angle adjust.(4)Research on Beidou positioning and path planning of field management machine.Through the Beidou satellite positioning data analysis,the Gaussian projection method is used to convert the positioning latitude and longitude information to plane coordinates.According to the field management machine operation requirements,a mathematical analysis of the turn-and-turn mode in path planning is established,which provides a basis for judging different turn-and-turn modes for the optimal path planning algorithm.(5)Clarify the design of the four-wheel steering navigation control system of the field management machine.After analyzing the steering mode of the field management machine,the front wheel steering and four-wheel steering models were established,and it was concluded that the four-wheel steering is more inclined to the design requirements of the field management machine assisted driving system.Using pure tracking algorithm and fuzzy algorithm fusion,the forward tracking distance parameter method of pure tracking algorithm is optimized by three factors of speed,lateral deviation and heading deviation.(6)Through field management machine related tests,the operating characteristics of the hydraulic system,automatic steering control and the performance of the navigation assisted driving system were analyzed.The test results show that the performance of the hydraulic control system of the field management machine meets the requirements of the navigation assisted driving system,the automatic steering control has a fast response and good control accuracy,and the navigation assisted driving system can meet the operation requirements of the field management machine.