Design Of Intelligent Agricultural Machine Control System Based On Hydraulic Drive

Since the 21 st century,the development of China’s agricultural machine industry has been vigorously promoted,and China has also become the world’s largest country in agricultural machine manufacturing.However,there are few applications of intelligent monitoring and control and other modern technologies in agricultural machines produced in our country,and the level of automation and intelligence is not high,which restricts the high-quality development of agricultural industry.For this reason,this thesis designs a control system of intelligent agricultural machine based on hydraulic drive,which realizes the intelligence of agricultural machine and improves its mobility and reliability.The main research work is as follows:(1)This thesis designs the prototype of intelligent agricultural machine,draws the control system diagram and selects the controller,operation devices,walking devices,driving devices and monitoring devices.Then according to the selection,this thesis designs oil circuit diagram of intelligent agricultural machine hydraulic system and wiring diagram of hardware,determines the hydraulic valve-controlled motor as driving force component,analyzes its basic equations,and establishes the state space model.(2)In order to restrain disturbance torque and uncertainty factors influencing on intelligent agricultural machine hydraulic system,this thesis designs ADRC controller,improves the ESO via inverse hyperbolic sine function and proves its stability.The improved ADRC controller is able to make the valve-controlled motor of agricultural machine response quickly and restrain chattering of the output signal well.(3)In order to solve the problem that there is no mechanical connection between left track and right track of intelligent agricultural machine and slipping is likely to happen when traveling,this thesis analyses steering kinematics and dynamics of intelligent agricultural machine,proposes slip rate to measure the effects,and then designs the differential speed steering strategy based on motor speed.The strategy sets speed based on slip rate for inside and outside motor respectively to form a speed difference,making intelligent agricultural machine to steer accurately.(4)This thesis simulates for ADRC controller and steering strategy of differential speed,and then optimizes the strategy to cope with the possible problem of power shortage.The new Turbo mode can increase the opening of pump and speed up the engine to meet the power demand.Then this thesis programs code of the controller via Co De Sys and tests the prototype of intelligent agricultural machine,which shows excellent performance.