Design And Test Of Auxiliary Driving System For High-gap Plant Protection Machine

As a large population country,agricultural development is very important to our country.Traditional agricultural machinery has low efficiency and high cost,so the development of modern agriculture has become an inevitable trend.Aiming at the problem of injured seedlings caused by poor vision of drivers in the operation of plant protection machinery in high ground clearance,a method of assistant driving is proposed,at the same time,it can also reduce the fatigue of drivers.Taking a plant protection machine in high ground clearance as the research object,an assistant driving control system of plant protection machine in high ground clearance is designed by combining intelligent sensor technology,Electromechanical-hydraulic integration technology and various control algorithms,which realizes the real-time tracking of plant protection machine according to the planned path.The main research work is as follows:(1)On the basis of consulting a large number of domestic and foreign literatures,combining the structural characteristics and working principle of the plant protection machine with high ground clearance,on the original hydraulic steering system of the plant protection machine,according to the design principles and objectives of the auxiliary driving auto-steering system,a suitable hydraulic transformation component is selected,a hydraulic steering control scheme for auxiliary driving is designed,and the preliminary selection of hydraulic components and sensors is carried out.(2)A mathematical model of hydraulic steering system including proportional reversing valve,steering cylinder and sterring wheel is established.Secondly,a steering controller based on fuzzy adaptive PID and PID control algorithm is designed for this non-linear proportional relationship,and is verified by the joint simulation of Matlab/Simulink and AMESim.(3)The dynamic model of plant protection machine is established.Reference to relevant literature and based on the pure tracking algorithm,a method of determining preview point based on geometric position relationship is designed,which enables plant protection machine to quickly determine preview point in the process of path tracking.The linear path tracking control method is mainly studied,and the simulation research is carried out based on Matlab/Simulink.(4)In order to validate the designed auxiliary driving system,an auxiliary driving test platform based on high ground clearance plant protection machine was built.Path tracking experiments were carried out in corn fi eld and cement floor.The results show that the designed auxiliary driving system has good stability,it can realize assistant driving function.