Automatic navigation control method of agricultural machine

Abstract

The invention discloses an automatic navigation control method of an agricultural machine. The method comprises the following steps of 1, measuring motion state data of the agricultural machine at current time in real time by a GPS receiver; 2, performing comparison and analysis on motion state data and predefined path data according to a preview control method, thereby calculating transverse deviation and operation direction deviation; 3, performing fuzzification through a fuzzy control algorithm, then introducing a fuzzy amount into a fuzzy controller, thereby obtaining a front-wheel rotation angle; establishing geometric model through an improved pure tracking algorithm, thereby calculating the front-wheel rotation angle; combining the front-wheel rotation angles which are obtained through the two algorithms for obtaining a combined front-wheel rotation angle; and 4, controlling the agricultural machine in real time according to the combined front-wheel rotation angle, thereby realizing path tracking. According to the automatic navigation control method of an agricultural machine, two navigation methods are combined for realizing automatic control, thereby realizing high stability, high interference resistance and effective system robustness improvement. Through combining the two navigation methods, the advantages of the two navigation methods are combined so that the automatic navigation control method satisfies operation requirement in dry land and paddy field.

Description

technical field [0001] The invention relates to the field of agricultural machinery navigation control, in particular to an agricultural machinery automatic navigation control algorithm. Background technique [0002] The main task of agricultural machinery navigation control is to obtain the navigation position of agricultural machinery according to each sensor, determine the positional relationship between the position and the predefined path, integrate the motion state of agricultural machinery and a suitable control algorithm, and determine the corresponding front wheel angle, so as to Correct path tracking error. [0003] Commonly used navigation control methods are linear model control method, fuzzy control method and optimal control method. The University of Tokyo in Japan uses machine vision technology, according to the linear steering control model, fuses the target direction angle and the longitudinal angle of agricultural machinery, calculates the front wheel rota...

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Problems solved by technology

Conventional linear model control methods, including PID control methods, can obtain high-precision path tracking effects, but the anti-interference ability is weak; fuzzy control algorithms have good stability, but the steady-state accuracy of path tracking is difficult to guarantee; optimal The establishment of the controller depends on the accurate kinematics and dynamics models of agricultural machinery, but under field conditions, changes in soil properties and changes in the interaction between agricultural machinery and the ground lead to the establishment of kinematics and dynamics models of agricultural machinery. difficulty,

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