Research On The Control System Of Agricultural Navigation Vehicle

With the development of facility agriculture,people pay more attention on agricultural navigation vehicle.The research object of this paper is indoor road in agricultural production environment,in order to meet the requirements which the vehicle's automation of facilities agriculture,agricultural transportation,the infrared navigation of agricultural navigation vehicle in-depth study,the main research contents are as follows:Firstly,the infrared sensor was selected as the navigation sensor of the vehicle through the analysis of the navigation sensor.After analysis the type of the driving mode of agricultural navigation vehicle,four-wheeled vehicle were selected by the research content.The front wheel was the driving wheel.The driving wheel adopts the hub motor,which relies on the differential completion of steering control.Secondly,according to the type of the selected navigation vehicle,the mechanical structure and hardware interface circuit of the prototype vehicle are designed,then the prototype vehicle was processed and completed,and the prototype design of the navigation vehicle is completed.Through analyzing the kinematic model of the agricultural navigation trolley,the motion state model was established for the model relationship between the angle deviation and the distance deviation,and the higher order transfer function was reduced to the order,finally the system control equation of state is obtained.Thirdly,according to the fuzzy control theory,the path tracking fuzzy controller was designed.The angle deviation and the distance deviation were used as the input variables of the system,the voltage difference was taken as the output variable of the system,which construct the fuzzy controller with double inputs and single output.According to the designed fuzzy controller,the simulation model was established in MATLAB/Simulink environment.The simulation results show that the designed fuzzy controller has good stability and corrective performance to meet the design requirements of the controller.Finally,according to the designed vehicle,the fuzzy control strategy was applied to the prototype vehicle test.The test results show that the agricultural navigation vehicle with fuzzy control strategy can complete the relevant function test in a certain range,and meet the design requirements.In this paper,the infrared sensors were used to provide road information and path tracking for agricultural navigation vehicle,at the same time,the fuzzy controller was designed and simulated,finally,the fuzzy control strategy was applied to the prototype test.The simulation results and the prototype test results show that: the fuzzy control strategy has higher stability and better rectifying performance,in the process of path tracking,it can quickly identify the current road information,and make corresponding feedback according to the road information,which provides certain value for the research of agricultural navigation vehicle.