Design Of Small Crawler Type Agricultural Power Chassis Control System Based On PLC

With the rise of agricultural information technology and agricultural intelligent equipment technology,China has gradually shifted from traditional agriculture to intelligent digital agriculture.As an important part of agricultural intelligent equipment technology,the intelligence of the power chassis has received wide attention from domestic and foreign research workers.However,for hilly and mountainous areas,there is still a lack of small agricultural intelligent equipment to meet the agricultural environment,And as the number of people engaged in agricultural production decreases,automation and intelligence of agricultural production becomes more important.For these reasons,a small tracked agricultural power chassis control system based on PLC,which is flexible in operation and easy to use,is designed.It mainly includes the following research work:(1)The overall design Parameters of the power chassis are determined by the complex farming environment in the hilly and mountainous areas.According to the design requirements,hardware materials were selected,appropriate programmable controller,DC motor,motor controller,battery,engine and other equipment were selected,circuit wiring design was carried out,and all modules were integrated together to complete the construction of the hardware part of the tracked agricultural power chassis control system.(2)With FX2N PLC as the core processor,the motion control system is developed,and manual and remote control methods are adopted to control the power chassis.Develop information acquisition system,through the rotary encoder and the liquid level sensor for dynamic chassis wheel speed and the quantity of residual oil tank about data collection,and use the QDGate301-L module structures,cloud platform,the sensor collected relevant data through the 4 g network transmission to the cloud,can be realized on the PC and the mobile end users of dynamic real-time monitoring of the chassis.(3)Comparing PID control and fuzzy PID control through SIMULINK simulation,fuzzy PID controller has better stability and robustness,so the fuzzy PID algorithm is used as the control algorithm for linear driving offset correction of power chassis.(4)In this paper,the precision degree,the flexibility and stability of in-situ steering,and the ability of surmounting obstacles of the small and medium-sized tracked agricultural power chassis are analyzed in the environment of cement flat road surface,soft muddy road surface,gravel grass road surface,etc.,and the power chassis is tested in the matching machine.