Design And Implementation Of Unmanned Agricultural Machinery Control System And Research On Control Algorithm

Agriculture is the foundation of human society.In modern agriculture,unmanned agricultural machines with automatic driving and automatic operation mode,which extends the working time compare with the older manual driving.Unmanned agricultural machines can work in the field 24 hours a day,which is of positive significance in agricultural production.Therefore,an unmanned agricultural machine with autonomous operation function has been developed by this paper.The contents of the paper are as follows:Firstly,the unmanned agricultural machine has been analyzed by this paper,and the whole unmanned agricultural machine system was divided into two parts.Then,the division of labor in the project has been introduced,includes the design and realization of the unmanned agricultural machine control system and the research of the control algorithm.The composition of the unmanned agricultural machinery control system has been specifically introduced.Subsequently,the hardware circuit of the unmanned agricultural machine has been designed,which is used to modify the mature manual rice transplanter products on the market.According to the characteristics of the rice transplanting operation,the electric control devices have been selected and installed on the operating mechanism of the manual rice transplanter to ensure the movement of the entire rice transplanter can be fully controlled by electrical signals.Then,the software of the unmanned agricultural machine’s lower computer has been designed.Using a layered design method,the driver of the unmanned agricultural machine hardware circuit was completed,and the communication with other parts of the unmanned agricultural machine system was connected.An interface for the path tracking control algorithm was leaved in the application layer,and there is also a processing logic in emergency situations.Finally,a path tracking method based on compound fuzzy control has been designed by this paper,and programmed into a single-chip microcomputer.A real vehicle test according to the planned path has been done.The experimental results show that the unmanned agricultural machine developed in this paper has a good autonomous operation effect and a good application prospect.