摘要
针对农村传统动力变挡拖拉机保有量大、农机老龄化程度高等问题,结合信息化技术、传感器技术、人工智能技术快速发展的现状,以东方红LX1504型动力换挡拖拉机为研究对象,设计了一套拖拉机无人驾驶控制系统,可实现拖拉机的无人驾驶、路径规划、智能避障和自主掉头等功能。阐述了无人驾驶控制系统的工作原理,重点对无人驾驶拖拉机的离合器、制动器、悬挂升降器和方向盘等硬件执行机构进行了改装,增设了轮胎的角度传感器,并对追踪控制器的控制算法进行了论述。无人驾驶拖拉机智能化玉米播种试验结果表明:该动力换挡无人驾驶拖拉机实现了路径规划、播种作业、掉头、智能避障和悬挂自动升降等功能,播种作业过程中直线作业精度达1.908 cm,交接行作业精度达2.012 cm,转弯掉头时偏离规划路径的控制精度为37.568 cm,与设计指标基本相符。
According to the problems of the large number of traditional power shift tractors in rural areas,the high degree of aging in rural areas,combined with the rapid development of information technology,sensor technology and artificial intelligence technology,a set of unmanned driving control system of the tractor was designed based on the research of Dongfanghong LX1504 power shift tractor to realize the functions of unmanned driving,path planning,intelligent obstacle avoidance,and autonomous turning of the tractor.The working principle of the unmanned driving control system was expounded,the selection and calculation of the electric actuator of the unmanned tractor modification hardware were emphatically selected,mainly to modify the hardware actuators such as clutches,brakes,suspension lifters and steering machines of powershift tractors,and to add tire angle sensors,and the control algorithm of the tracking controller was discussed.The intelligent corn sowing test of the unmanned tractor was carried out,and the results showed that the unmanned tractor modified by power shift realized the functions of path planning,sowing operation,U-turn,intelligent obstacle avoidance,suspension automatic lifting,etc.,and the accuracy of linear operation in the process of seeding operation was 1.908 cm,the accuracy of handover operation was 2.012 cm,and the control accuracy of deviation from the planned path when turning and turning was 37.568 cm.
作者
张俊杰
马志凯
么立申
袁兴茂
张西群
李霄鹤
焦海涛
Zhang Junjie;Ma Zhikai;Yao Lishen;Yuan Xingmao;Zhang Xiqun;Li Xiaohe;Jiao Haitao(Hebei Mechanised Agriculture Co.,Ltd.,Shijiazhuang 050051,China;College of Mechanical and Electrical Engineering,Hebei Agricultural University,Baoding 071001,China)
出处
《农机化研究》
北大核心
2026年第7期253-259,共7页
Journal of Agricultural Mechanization Research
基金
河北省农林科学院现代农业科技创新专项(2022KJCXZX-NJS-4)。
关键词
无人驾驶
追踪控制
执行机构
控制算法
unmanned driving
tracking control
implementing agencies
control algorithm
