| As a country with large population,the development of agriculture is very important.While traditional agriculture operations with lower efficiency and higher labor cost,the development of modern agriculture has become an inevitable trend.Automatic navigation of agricultural can effectively improve the land use efficiency,reduce driver fatigue,as an integral part of modern agriculture.Tractor automatic steering hydraulic steering control is the basis of automatic navigation of agricultural machinery.The paper use Foton Lovol M1104-D tractor as experimental platform,combined with the hydraulic steering characteristics and automatic steering control requirements,designed a set of tractor automatic steering hydraulic steering control system,make the tractor driving according to path planning come true.Determine the hydraulic steering automatic control transformation scheme with the structural features and performance parameters of Foton Lovol M1104-D,then select the reasonable hydraulic components;functional controller were choosed based on the hardware system,to achieve the transmission of information between different parts.In order to test the hydraulic system is feasible and reliable,using the SimHydraulics toolbox to simulate it.The results under different conditions shows that the system can effectively completed automatic steering instructions.According to the requirements of the tractor automatic driving,the path following control algorithm is proposed,and the geometric tracking algorithm is simulated and analyzed.The results shows that the geometric tracking algorithm can realize the automatic path tracking control and get better performance.Hydraulic simulation results show that the closed loop hydraulic system with dead zone PD algorithm has higher stability and better response performance.With 15° heading angle,0.2m initial lateral deviation and 2.5m geometric tracking distance,the time of vehicle back to ab line is 3s,agree with the vehicle path tracking requirements. |
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