Research On Automatic Steering Control Of Agricultural Machinery

With the rapid development of industrialization, urbanization and agricultural modernization, has undergone profound changes in the structure of the rural labor force and the concept of labor, the farmers’ demand for agricultural machinery operation is more and more urgent, dependence on agricultural machinery is becoming more and more obvious, the development trend of intelligent agricultural machinery. In recent years, a trend which cannot be halted differential GPS technology, hydraulic technology, angle sensor so, the gyroscope technology began to gradually applied to agricultural independent turn, make agricultural independent steering more rapid, accurate and reliable. At the same time, along with the rapid development of embedded technology, intelligent control technology, agricultural engineering will usher in a new revolution. The development of automatic driving system of agricultural machinery has become the inevitable trend of agricultural has. The automatic driving system can greatly improve the working efficiency and working quality in agricultural fields, and can reduce labor costs.The hydraulic steering control of intelligent agricultural system, realize agricultural automatic driving function, the main contents are:First part analysis of agriculture in the national economy important status and role of China precision agriculture development present situation, pointed out that our country in precision agriculture and foreign gap, the development of precision agriculture especially on the development of intelligent agricultural system significance.The second part of the in-depth analysis of the agricultural automatic driving principle, of agricultural vehicle steering process of mathematical modeling, simplifies the kinematic model of the agricultural vehicle, on the basis of the theory above in electric vehicle with four wheels and build the field of agricultural autopilot steering platform, emphatically from the GNSS navigation system, double heading antenna measurement, gyro angle sensors system analysis of the design of agricultural autopilot steering platform.The third part from traditional agricultural to tracking algorithm of in-depth study of the pure tracking algorithm, pure tracking simulation software developed by MFC algorithm results, obtained by the analysis has a direct impact on agricultural visibility distance tracking effect. On the basis of using intelligent control technology, through the improvement of agricultural machinery in the process of turning the visibility distance of fuzzy control with the adaptive control, and validated through simulation algorithm. Based on the classical algorithm, studies the agricultural model prediction algorithm, and test the algorithm by simulation. Finally, in the agricultural farmland boundary turning control of agricultural machinery, adaptive course tracking algorithm, the simulation results show that the algorithm has good control effect.The fourth part of the cortex-a8 Ti AM335 micro controller as the control core, transplant Linux operating system, Qt development environment, based on this design navigation control system software architecture is introduced. The autopilot steering control software modules of the detailed design.Finally to the installation of the independent design of can simulate agricultural real steering four-wheel electric vehicles as the experimental platform, the platform vehicle automatic steering path tracking experiments. In the school library square were pure tracking algorithm, pure fuzzy tracking algorithm, adaptive pure tracking algorithm, model predictive algorithm, curve adaptive ship course tracking algorithm test recorded test data, analysis of the test results show that the overall tracking effect is ideal, the navigation control algorithm is effective and applicable, navigation control system operation is stable and reliable.