Research On Automatic Driving And Working Control System Of Unmanned Agricultural Machinery In Paddy Field

With the imbalance between city and village,rural labors become less,the arable land is abandoned,which affecting the grain production in China.Therefore,research on automatic driving-and-working system of unmanned agricultural machinery has become a significant research point.China has already listed advanced agricultural machinery as one of the top ten research areas in “Made in China 2025”.The automatic driving and operation control system of agricultural machinery can effectively improve the intelligent and efficiency of agricultural production,alleviate the current problem of rural labor shortage in China.In consideration of the low automatism of agricultural machineryin the paddy field,the high labor cost and the complexity of automatic driving in paddy field.This paper is aimed to implement the automatic driving-and-working control system of unmanned agricultural machinery based on traditional rice seeder.The main research contents are as follows:(1)The design and implementation of automatic driving and operation control system for agricultural machinery based on traditional rice seeder is studied.The architecture and the required underlying subsystems of the whole system are studied.The software and hardware solutions and implementations of all subsystems such as the sensor system,main control system,user terminal,steering wheel control,speed control and working control of the unmanned agricultural machinery are studied(2)The automatic driving algorithms of unmanned agricultural machinery are studied.Based on the simulation model of agricultural machinery,the influence of control parameters on the performance of PD control algorithm is analyzed.A fuzzy adaptive PD control algorithm is proposed.And the performance of this algorithm is tested by simulation.By analysing the lateral deviation,a nonlinear control algorithm with multiple deviation feedback is proposed.By analyzing the differential equation,the feasibility of the algorithm is proved.The performance of the algorithm is verified by simulation.Finally,a turning control algorithm that can help the rice seeder turn to next path automatically and a speed control algorithm are proposed.(3)The implementation of the user terminal is studied.Firstly,the implementation of remote wireless communication between the user terminal and the main controller is studied.Then the implementation of the remote monitoring feature of the user terminal is studied.Finally,the implemention of job management features such as job start-stop control and path planning algorithm is studied.(4)The experimental platform of the automatic driving and working control system is established.Experiments are conducted to test the performance of the system.Path tracking experiments were conducted to test the performance of the fuzzy adaptive PD control algorithms and the nonlinear control algorithm with multiple deviation feedback on both cement road and paddy field.In addition,the path planning algorithm,the turning control algorithm and the working control algorithm were also verified in the experiment conducted in paddy field.The results show that the automatic driving and working control system studied in this paper has high path tracking accuracy,meeting the requirements of unmanned operation in paddy field.This study provides a feasible and practical way for the implemention of automatic driving and working control system of unmanned agricultural machinery in paddy field...