Design And Study Of Automatic Navigation Control Syetem For Sugarcane Harvester

Sugarcane harvest is a kind of agricultural machine widely used in Guangxi Province of China.It has the advantages of flexibility,high harvesting efficiency and low damage rate of the cane head.However,the working environment of the sugarcane harvester is poor,the situation on the ground is complex and changeable,the labor intensity of the driver is great,and the long-time operation will have a serious impact on the health of the driver,so the need for sugarcane harvest to achieve automatic driving enables the driver to free from busy work.This paper researches the automatic GPS navigation technology of sugarcane harvester.Firstly,the structure of the sugarcane harvester and the working requirements of the traveling driving system are analyzed.The hydraulic driving system of the sugarcane harvester is designed.The mathematical model of the traveling driving system is established.The steering controller is designed by fuzzy PID algorithm.Simulation and experimental results It shows that this control strategy can make the sugarcane harvester turn quickly and accurately.Secondly,in order to improve the positioning accuracy of the sugarcane harvester,the carrier phase differential positioning technology is studied in combination with GPS positioning principle and positioning method,and the navigation positioning solution method is discussed.On this basis,the GPS device and speed sensor are selected,and the hardware platform for the automatic driving system of the sugarcane harvester is completed.Then,based on the complexity and high nonlinearity of the automatic navigation system,the path tracking control algorithm is studied and the fuzzy controller is designed.Based on the self-learning adaptability of neural network,a fuzzy neural network control algorithm is designed to make the center value,the width value of the membership function and the weight of the last layer online mediate,which enhances the control performance of the system.The simulation results show that the control effect is more accurate.Finally,the rationality and stability of the automatic navigation system is verified by experiments,and the factors that affect the accuracy of navigation tracking are analyzed and summarized,which lays the foundation for the research of sugarcane mechanization and automatic harvesting.