Study On The Design Of Tractor Robot Driver And The Control Method Of Shift Manipulator

In recent years,with the rapid development of agricultural modernization.And urgent needing to solve the problems of agriculture.The use of tractors is increasing.However,the development of agricultural machinery automation in China is relatively lagging behind,all-weather autonomous navigation operations intelligent tractors are still in the stage of technical challenges.In this paper,a tractor driver is designed for medium and small horsepower tractor.The movement of the robot hand,so as to realize the coordinated control of each actuator.The main contents of this paper include:(1)First of all,this paper puts forward a kind of tractor driving robot,and designs a tractor driving robot system.We carry out the mechanical structure design of each actuator of the driving robot,and carry on the kinematics and dynamics analysis to the higher shift manipulator.The ADAMS tool is used to optimize the parameters of the shift manipulator,and the movement performance of the shift manipulator is compared before and after optimization.The motion performance of shift manipulator optimization before and after comparison,and collaborative clutch motion simulation of gear shifting manipulator were optimized.(2)In this paper,the VS/LabVIEW software platform is used to design the measurement and control system of tractor driver,and the friendly man-machine interface is established by ActiveX Technology,which can be used to control the flexible control of the robot hand/leg of the tractor driver,and the force/torque of each actuator.(3)This paper focuses on the research of the control method of the shift manipulator,and proposes a fuzzy adaptive control algorithm based on the dynamic parameter identification.Firstly,the parameter identification of the force position model of the shift manipulator is carried out by the moving least square method.Secondly,a fuzzy controller is used to realize the fuzzy adaptive control of the shift manipulator.A fuzzy adaptive PID control system based on force feedback for the tractor shift manipulator is designed,which can greatly improve the ride comfort of the shift manipulator by setting the PID parameters in real time.(4)In order to realize the real-time tracking of the tractor driver for a given speed,a fuzzy/PID dynamic switching control method is proposed.According to the control method of switching law in the system with the preset curve of large deviation using fuzzy control method,the deviation is small in the PID control method,in order to achieve fixed gear precise control of throttle position,to achieve good tracking.(5)An experimental study on the prototype of tractor driving robot is carried out.The shift experiment and the speed tracking experiment were carried out.Study on the traditional PID control,fuzzy adaptive control,fuzzy adaptive PID control of different control strategies,the shift to explore the characteristics of tractor driving robot,through the fuzzy/PID dynamic switching control method of tractor driving characteristics,speed tracking control of robot.The research shows that the steady-state error of the fuzzy adaptive PID control method is less than 6%,and the speed tracking error is less than 1Km/h.The validity and accuracy of the proposed control method are verified by experiments.In this paper,the tractor driving robot is studied based on the characteristics of tractor structure and the real-time working environment.The research includes the mechanical design,the system design,the mechanical analysis of the manipulator and the related control methods.The effectiveness of the proposed method is verified by experiments,which provides an idea for the combination of robot technology and agricultural machinery.