Research And Implementation Of Unmanned Remote Control Device For Rotary Tillage Tractor

Land preparation refers to a series of soil tillage measures before sowing or transplanting.The purpose of land preparation is to create a good soil structure and surface state,coordinate water,nutrients,air,heat and other factors,improve soil fertility,and provide good conditions for sowing,crop growth and field management.Rotary tillage is an important way of land preparation,and rotary tiller is a kind of tillage and land preparation machinery which is widely used at present.Rotary tiller has high frequency of use and wide popularity.The rotary tiller is usually located in the field.The farm machinery workers directly operate the farm machinery directly,which can easily cause fatigue and increase labor intensity,and often endure bad working conditions,such as uneven road surface,low-lying water,exposed to the weather,dust,mechanical vibration,noise and chemical spray.This is extremely harmful to the health of the operator.And the tractor operator needs certain driving skills.How to reduce the labor intensity of farmers and promote agricultural production is an important research topic.This paper takes the rotary tiller as the research object,first analyzes the structure frame and operation process of the rotary tiller,then uses the self-made remote control receiver to couple with the rotary tiller control system,and establishes a reliable,stable and long-distance wireless communication system between the rear operating system and the rotary tiller on-board executive system,Finally,the unmanned remote control device of rotary tillage tractor suitable for farmland environment instead of manual driving is realized.The main research contents are as follows.1.In this paper,the research and development of unmanned remote control system of rotary tiller in recent years are described in detail.The operation of rotary tiller and the control of tractor are analyzed,which provides a theoretical basis for the research of unmanned remote control device of rotary tiller.2.According to the functional requirements of the remote control device,the tractor actuator is coupled.The software and hardware systems of the remote control device are designed and implemented by using the modular design method,and the experimental platform is built.3.According to the requirements of wireless transmission anti-interference,the frequency hopping algorithm of remote control device is studied.Firstly,the basic structure of software radio is analyzed.Starting from the concept of software frequency hopping,according to the characteristics of frequency hopping system,the frequency hopping algorithm is analyzed and studied in detail,and the software frequency hopping protocol is designed.The system synchronization is analyzed and studied,and the method of system frequency synchronization and adaptive frequency hopping is realized.4.In order to make the system more stable,the performance of the system is tested from the aspects of the rocker potentiometer signal,frequency hopping rate and frequency hopping number of the remote control device.And the practical application test of the remote control rotary tiller was carried out.Including straight-line driving test,turning test and rotary tillage test,the above three groups of tests all achieved the expected results,which verified the steady-state performance of the control system.Finally,the anti-interference ability of the communication system is tested through experiments.The experimental data show that the system basically meets the technical requirements,works stably and reliably,and lays a solid foundation for the follow-up research and development of unmanned remote control device for rotary tillage and towing.