Intelligent Farm Car Based On Beidou Navigation And Positioning Research On Motion Control

In recent years,with the deepening of the aging population and the loss of rural labor,agricultural production is facing an important problem of labor shortage.in addition,the accuracy of manual operation of agricultural machinery is low,and the driver is prone to fatigue due to the long operation time in large-scale production.Therefore,it is very important to carry out the research of agricultural machinery movement correction to realize automatic driving to solve the above problems.At present,most agricultural equipment are developed based on GPS.With the development of Beidou navigation technology in China,considering the National Geographic Information Security and Beidou navigation's own advantages and characteristics,this paper takes the agricultural vehicle as the research object,and carries out the research of intelligent agricultural vehicle movement correction based on Beidou navigation positioning.The specific research contents are as follows:(1)Carry out the structure design and guide mode selection of the intelligent agricultural car body correction.By analyzing the advantages and disadvantages of several common car body structures,driving modes,steering modes and guiding modes,combined with the running environment of the car,the four-wheel structure is selected as the car body correction structure,in which the front wheel is used as the driving wheel,the driving motor is DC deceleration motor,and the car body relies on differential steering to achieve movement correction.For the sake of national geographic information security,Beidou navigation technology is used as the guidance mode of intelligent farm car in combination with field operation scenarios.(2)According to the structure of car body correction,the fuzzy correction controller is designed by combining the kinematic model and fuzzy control technology.Based on the analysis of the general situation of the trolley motion,the kinematic deviation model is built,and the relationship among the position deviation w,angle deviation ? and velocity?V is obtained.By analyzing the driving characteristics of the trolley,the nonlinear relationship between the speed difference ?V and the voltage difference ?U is simplified,and the dynamic model of the differential motion system is built by combining the motion deviation model.The state equations of the relationship among the position deviation w,angle deviation ? and voltage difference ?U are obtained.According to the motion state equation and the fuzzy control technology,the fuzzy correction controller is designed,which lays the foundation for the simulation of the car correction control.(3)According to the fuzzy control technology and the fuzzy correction controller,the MATLAB / Simulink simulation tool is used to carry out the correction control simulation experiment.According to the simulation results,the fuzzy correction controller is optimized and the simulation experiment is completed.Through the simulation of different weight parameters,the weight value ? = 0.6 is selected as the control system parameter value by comparing the simulation results.According to the simulation results,the fuzzy correction controller is optimized and the simulation experiment is completed.The experimental results show that the performance and stability of the controller after optimization are improved,and the controller after optimization can complete the correction control better under the interference.(4)Combined with the car body correction structure and fuzzy correction controller,the intelligent farm car entity was built to complete the field movement correction test.Through the performance test of the driving motor of the car,the data acquisition test of Beidou Positioning and the field movement correction test of the car based on Beidou navigation,it is concluded that the correction result of the field movement deviation of the car is similar to the simulation result,and the movement correction can be realized according to the preset path.The experimental results further verify the reliability of the car motion correction system,as well as the feasibility and effectiveness of Beidou navigation technology for car motion guidance.The research on the movement correction of the intelligent farm car based on the Beidou navigation positioning in this paper provides a theoretical reference for the precision and intelligent operation of small agricultural machinery,which is of great significance to the precision and safety production of agriculture.