Study On Automatic Steering Control System Of High Speed Rice Transplanter

Transplanter is the most important agricultural machinery to improve working efficiency,reduce labor intensity and realize rice production mechanization.The future of agricultural machinery is bound to develop in the direction of intelligence.Automatic steering control technology is the key technology of autopilot,and also one of the main research topics in the field of intelligence nowadays.It is an important means to realize precise seedling transplanting.It not only improves labor productivity,Moreover,the quality of rice planting is improved effectively.As the key technology of automatic navigation,the steering performance of transplanter directly affects the walking accuracy of automatic navigation.Therefore,according to the complexity of the working condition and the high precision requirement of the transplanter in the field,the automatic steering control technology of the transplanter is studied deeply in this paper.The main contents of the study are as follows:Firstly,according to the difficulties of transplanter field steering,the principle of automatic steering control of transplanter is deeply analyzed,and the kinematics model of transplanter is simplified.On this basis,the design requirements of automatic steering control for transplanter are put forward.The advantages and disadvantages of five feasible steering control schemes are analyzed synthetically and the steering scheme of DC servo motor gear drive steering wheel steering column is selected.The servo motor model adopts the RE50 produced by maxon Company and the encoder type is EPOS2 70/10.The related hardware is selected and purchased,the motor bracket is designed and installed,and the steering actuator is reformed and installed.Secondly,in the case of rough and complex environment in paddy field,the transplanter has strong nonlinearity and uncertainty while walking in the field,and the control precision is low when the deviation is small.Based on fuzzy PID control,a compound fuzzy adaptive PID controller is designed in this paper.The PID algorithm and compound fuzzy PID algorithm under different steering angles are simulated and analyzed by MATLAB/simulink software.Through the analysis and comparison,the compound fuzzy PID algorithm can meet the requirements of automatic steering control very well,can realize the quick adjustment when the deviation is too large,the deviation is small to realize the accurate adjustment,improve the precision of the automatic steering.It solves the problem that the system will not produce static deviation because the deviation range is too large.Finally,in order to verify the feasibility of the designed steering control scheme and algorithm,the system hardware platform,front wheel angle calibration test,servo motor debugging test and bench test are carried out.Through the bench test of angle tracking under the PID control algorithm and the compound fuzzy PID control algorithm,it is determined that the compound fuzzy PID control meets the requirements of automatic steering control,and the response speed is fast,the stability is stable,and the overshoot is reduced.