Research On Dynamic Modeling And Path Tracking Algorithms Of Rice Transplanter

In the era background of intelligence and informatization,the use of high technology to create a new type of agriculture and the replacement of traditional agricultural labor with intelligent agricultural machinery is an important direction for agricultural development at this stage.Rice transplanter is the main method of rice planting,and the rice transplanter with automatic navigation control system is used to improve rice production level.Therefore,the automatic navigation control technology of rice transplanter has become a research hotspot.According to the relatively complex operating environment of the rice transplanter and the high accuracy requirements,this paper mainly discusses the dynamic modeling method and path tracking algorithm of the rice transplanter.The main research details are as follows:First of all,in order to improve the accuracy of the dynamic model parameters for the rice transplanter,an online identification method of the dynamic model parameters for the rice transplanter based on improved particle swarm optimization algorithm and extended Kalman filter algorithm（IPSO-EKF）is proposed.By establishing a dynamic model,the model parameters are determined.The noise matrices of the EKF algorithm are optimized offline by the IPSO algorithm.According to the experimental data,IPSO-EKF algorithm is used to identify the parameters of the dynamic model online,and the effectiveness of the method is verified by experimental results.Secondly,aiming at the linear path tracking control problem of the rice transplanter,a dynamic model of the path deviation for the rice transplanter is established.The linear path tracking experiment under uniform speed and variable speed is designed,and simulation analysis is carried out.This paper focuses on the algorithm that can achieve adaptive control in the face of speed factors.By analyzing the influence of speed factors on path tracking control,a speed adaptive path tracking algorithm for the transplanter based on new reaching law is proposed,and the liner path tracking under variable speed conditions is verified by simulation comparison.Finally,Matlab/GUI is used to design path tracking simulation software,and the proposed speed adaptive path tracking algorithm is applied to the simulation software.The simulation results show that the adjustment time of the lateral position deviation and heading angle deviation is controlled by this algorithm within 5 seconds,the steady-state error and overshoot are almost zero,and the simulation results verify the reliability of the algorithm.