| The wheat precision seeding technology is one kind of advanced culturaltechnique, which can make the development of our country agricultural production tothe ecological agriculture and the quality efficiency agriculture, and which is onedirections of seeding mechanization development. The precision seeding technology ismost effective ways to increase the yield of wheat. According to the project request ofthe Shandong Province science and technology hall of "The Key TechnologiesDevelopment and Applied Research of Wheat Precision Seeding Robot ", with thedesigned wheat precision seeding mechanism, the dynamic analysis and simulation ofthe montion system are made.And a variable parameter PID controller is designed anddevelopped to realize the automatic control of wheat precision sowing robot.Finally thecontrol system is tested through the experiment. Main research as follows:(1) According to the general requirements of wheat precision sowing robot，Thefour-wheel drive and four-wheel steering pattern are introduced in the design of motionplatform of wheat precision seeding robot.(2) Through analysis the kinematics characteristic of four wheel steering systemof Wheat Precision Seeding Robot, the motion platform kinematics models of wheatprecision sowing robot are established. In view of four wheel motion robot’skinematics model, the control rules are analyzed through simulation experiment byMATLAB. The optimum control rule is acquired through comparing the pose errorsand tracking track of control rule, thus the trajectory tracking control is accomplished.(3) Using PID control algorithm, the variable parameter PID controller isdesigned to realize precisely turning, walking and seeding.(4) The design of wheat precision sowing robot is tested under different speeds toprecisely seed,and the results is analysed to checkout that the control system of thewheat precision sowing robot whether meets the agronomic requirements of wheatprecision seeding technology. |
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