Tractor paddy field operation path tracking method and system based on variable universe fuzzy PID theory

Abstract

The invention provides a tractor paddy field operation path tracking method and system based on a variable universe fuzzy PID theory. A navigation positioning module sends a transverse error e and a course error to a fuzzy controller III, the transverse error e is sent to a variable universe fuzzy PID controller, the variable universe fuzzy PID controller outputs a front wheel target rotation angle [delta]1, the fuzzy controller III outputs a compensation value [delta]2 of a front wheel rotation angle, the [delta]1 and the [delta]2 are added to obtain a final target rotation angle delta of the front wheel, the final target rotation angle delta is sent to a steering transmission module, and the steering transmission module controls the rotation of the front wheel of the tractor according to the final target rotation angle delta of the front wheel, so that the front wheel rotation angle of the tractor reaches a preset target rotation angle and the path tracking of the tractor is realized. The method can meet the requirement for path tracking precision when the tractor works in the complex paddy field environment, and is high in stability and robustness.

Description

technical field [0001] The invention belongs to the technical field of agricultural machinery intelligent control, and in particular relates to a tractor paddy field operation path tracking method and system based on variable universe fuzzy PID theory. Background technique [0002] In recent years, agricultural machinery has developed in the direction of unmanned and intelligent, and the unmanned driving of agricultural vehicles has become the focus of research. As the core technology of unmanned driving, path tracking is the top priority of research. The path tracking of tractors in paddy fields is different from the path tracking of other dry fields or flat fields. The ground is undulating, slippery and muddy, and the interaction between the road surface and tires is complex and changeable. It is difficult to establish an accurate mathematical model. Side slips and large inclinations often occur, and the actual driving speed information is difficult to measure accurately ...

AI Technical Summary

Problems solved by technology

The path tracking of tractor paddy field operations is different from that of other dry fields or flat lands. The ground is undulating, slippery and muddy, and the interaction between the road surface and tires is complex and changeable. It is difficult to establish an accurate mathematical model. Side slips and large tilts often occur, and the actual driving speed information is difficult to measure accurately in real time. Therefore, a series of path tracking algorithms that rely on kinematics or dynamic models, or require accurate measurement of driving speed, represented by pure tracking algorithms, are applied heavily restricted

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