Agricultural machine control method, device and equipment

Abstract

The embodiment of the invention discloses an agricultural machine control method, device and equipment. The method comprises the steps that the first guide wheel rotation angle of agricultural machine equipment at the last moment is obtained; according to a pre-established transverse dynamic state space model, based on the first guide wheel rotation angle, determining a target state quantity of the agricultural equipment at the current moment; performing non-singular linear transformation on the target state quantity to obtain a transformed target state quantity; determining a first sliding mode based on the transformed target state quantity by using a nonsingular terminal sliding mode controller with a multi-level nested structure; and according to the first sliding mode, based on a terminal sliding mode control rate algorithm, a target guide wheel rotation angle is determined, and the agricultural equipment is controlled to continue to run based on the target guide wheel rotation angle at the current moment.

Description

Technical Field

[0001] This document relates to the field of computer technology, and in particular to an agricultural machinery control method, device and equipment. Background Art

[0002] With the rapid development of navigation technology and vehicle control technology, agricultural machinery and equipment are gradually moving towards automated precision development. Among them, autonomous navigation and trajectory tracking control are key technologies for realizing agricultural machinery automation.

[0003] In terms of the path tracking control algorithm for automatic navigation of agricultural machinery, sliding mode variable structure control, as a type of robust control method for dealing with nonlinear uncertain systems, has the advantages of insensitivity to disturbances and fast dynamic response. The design of sliding mode controller depends on the dynamic model of agricultural machinery. Most of the dynamic models in existing schemes are based on second-order dynamic models based on lateral error and heading error.

[0004] However, when dealing with more complex high-order dynamic models, it is easy to cause insufficient control accuracy and response speed, resulting in poor navigation effect. To this end, the embodiment of this specification provides a technical solution for improving the navigation effect of agricultural machinery equipment in indoor places. Summary of the invention

[0005] The purpose of the embodiments of this specification is to provide a technical solution for improving the navigation effect of agricultural machinery equipment.

[0006] In order to implement the above technical solution, the embodiments of this specification are implemented as follows:

[0007] An agricultural machinery control method provided in an embodiment of the present specification includes: obtaining a first guide wheel angle of the agricultural machinery at the previous moment; determining a target state quantity of the agricultural machinery at the current moment based on the first guide wheel angle according to a pre-established lateral dynamic state space model; performing a non-singular linear transformation on the target state quantity to obtain a transformed target state quantity; determining a first sliding mode based on the transformed target state quantity using a non-singular terminal sliding film controller with a multi-level nested structure; determining a target guide wheel angle based on the first sliding mode and a terminal sliding film control rate algorithm, and controlling the agricultural machinery to continue driving based on the target guide wheel angle at the current moment.

[0008] An agricultural machinery control device provided in an embodiment of the present specification comprises: a first acquisition module, used to acquire a first guide wheel angle of the agricultural machinery equipment at a previous moment; a first determination module, used to determine a target state quantity of the agricultural machinery equipment at a current moment based on the first guide wheel angle according to a pre-established lateral dynamic state space model; a transformation module, used to perform a non-singular linear transformation on the target state quantity to obtain a transformed target state quantity; a second determination module, used to determine a first sliding mode based on the transformed target state quantity using a non-singular terminal sliding film controller with a multi-level nested structure; an angle determination module, used to determine a target guide wheel angle based on a terminal sliding film control rate algorithm according to the first sliding mode, and control the agricultural machinery equipment to continue driving based on the target guide wheel angle at the current moment.

[0009] An agricultural machinery control device provided in an embodiment of the present specification comprises: a processor; and a memory arranged to store computer executable instructions, wherein the executable instructions, when executed, cause the processor to: obtain a first guide wheel angle of the agricultural machinery at a previous moment; determine a target state quantity of the agricultural machinery at a current moment based on the first guide wheel angle according to a pre-established lateral dynamic state space model; perform a non-singular linear transformation on the target state quantity to obtain a transformed target state quantity; determine a first sliding mode based on the transformed target state quantity using a non-singular terminal sliding film controller having a multi-level nested structure; determine a target guide wheel angle based on the first sliding mode and a terminal sliding film control rate algorithm, and control the agricultural machinery to continue driving based on the target guide wheel angle at the current moment.

[0010] The embodiments of the present specification also provide a storage medium, which is used to store computer-executable instructions. When the executable instructions are executed by a processor, they implement the following process: obtaining a first guide wheel angle of the agricultural machinery at the previous moment; determining a target state quantity of the agricultural machinery at the current moment based on the first guide wheel angle according to a pre-established lateral dynamic state space model; performing a non-singular linear transformation on the target state quantity to obtain a transformed target state quantity; using a non-singular terminal sliding film controller with a multi-level nested structure to determine a first sliding mode based on the transformed target state quantity; determining a target guide wheel angle based on the first sliding mode and based on a terminal sliding film control rate algorithm, and controlling the agricultural machinery to continue driving based on the target guide wheel angle at the current moment.

[0011] The embodiments of the present specification also provide a computer program product, including a computer program, which implements the following process when executed by a processor: obtaining a first guide wheel angle of the agricultural machinery at the previous moment; determining a target state quantity of the agricultural machinery at the current moment based on the first guide wheel angle according to a pre-established lateral dynamic state space model; performing a non-singular linear transformation on the target state quantity to obtain a transformed target state quantity; using a non-singular terminal sliding film controller with a multi-level nested structure to determine a first sliding mode based on the transformed target state quantity; determining a target guide wheel angle based on the first sliding mode and based on a terminal sliding film control rate algorithm, and controlling the agricultural machinery to continue driving based on the target guide wheel angle at the current moment. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings required for use in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor.

[0013] Figure 1 This is an agricultural machinery control method embodiment of the present specification;

[0014] Figure 2 This is a schematic diagram of an agricultural machinery dynamics model in this specification;

[0015] Figure 3 This is a schematic diagram of a slope path tracking control structure based on a sliding mode observer in this specification;

[0016] Figure 4 This is another agricultural machinery control method embodiment of the present specification;

[0017] Figure 5 This is a schematic diagram of another slope path tracking control structure based on a sliding mode observer in this specification;

[0018] Figure 6 This is a schematic diagram of a non-singular fast terminal sliding mode control algorithm process in this specification;

[0019] Figure 7 This is an embodiment of an agricultural machinery control device of this specification;

[0020] Figure 8 This is an agricultural machinery control device embodiment of this specification. DETAILED DESCRIPTION

[0021] The embodiments of this specification provide a method, device and equipment for controlling agricultural machinery.

[0022] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.

[0023] The embodiments of this specification provide a technical solution for improving the navigation effect of agricultural machinery equipment. With the rapid development of navigation technology and vehicle control technology, agricultural machinery equipment is gradually moving towards the development path of automation and precision. Among them, autonomous navigation and trajectory tracking control are key technologies for realizing the automation of agricultural machinery. In terms of the path tracking control algorithm for automatic navigation of agricultural machinery, sliding mode variable structure control, as a type of robust control method for dealing with nonlinear uncertain systems, has the advantages of being insensitive to disturbances and fast dynamic response. The design of the sliding mode controller depends on the dynamic model of agricultural machinery. Most of the dynamic models in the existing solutions are based on second-order dynamic models with lateral errors and heading errors. However, when dealing with more complex high-order dynamic models, it is easy to cause insufficient control accuracy and response speed, resulting in poor navigation effect. To this end, the embodiments of this specification provide a technical solution for improving the navigation effect of agricultural machinery equipment in indoor places. In this scheme, the first guide wheel angle of the agricultural machinery at the previous moment can be obtained, and the target state quantity of the agricultural machinery at the current moment can be determined based on the first guide wheel angle according to the pre-established lateral dynamic state space model, and the target state quantity is subjected to a non-singular linear transformation to obtain the transformed target state quantity, and then the first sliding mode can be determined based on the transformed target state quantity by using a non-singular terminal sliding film controller with a multi-level nested structure. Finally, the target guide wheel angle can be determined based on the first sliding mode and the terminal sliding film control rate algorithm, and the agricultural machinery can be controlled to continue driving based on the target guide wheel angle at the current moment. In this way, when processing a more complex high-order dynamic model, the complex state can be processed layer by layer through a non-singular terminal sliding film controller with a multi-level nested structure, so that the control strategy can more accurately adapt to the high-order characteristics of the system and improve the navigation effect of navigating the agricultural machinery.

[0024] like Figure 1 As shown, the embodiment of this specification provides an agricultural machinery control method, the execution subject of the method can be a server, the method can be applied to agricultural machinery equipment, and the agricultural machinery equipment can be any agricultural machinery equipment that can perform agricultural operations. The method can specifically include the following steps:

[0025] In step S102, the first guide wheel angle of the agricultural machinery at the last moment is obtained.

[0026] Wherein, when the agricultural machinery is in an initial state, the first guide wheel angle may be a preset guide wheel angle.

[0027] In step S104, according to the pre-established lateral dynamic state space model, based on the first guide wheel angle, the target state quantity of the agricultural machinery at the current moment is determined.

[0028] In implementation, Figure 2 As shown, the server can establish a vehicle dynamics model based on three degrees of freedom, where XOY can be a geodetic coordinate system, Xoy can be a vehicle body coordinate system, and F yfl The lateral force of the left front wheel of the agricultural machinery, F yfr can be the lateral force of the right front wheel of the agricultural machinery, F yrl The lateral force of the left rear wheel of the agricultural machinery, F yrr The lateral force of the right rear wheel of the agricultural machinery, F xfl can be the tangential force of the left front wheel of the agricultural machinery, F xfr can be the tangential force of the right front wheel of the agricultural machinery, F xrl can be the tangential force of the left rear wheel of the agricultural machinery, F xrr can be the tangential force of the right rear wheel of the agricultural machinery, δ is the front wheel turning angle of the agricultural machinery, ψ is the heading angle deviation of the agricultural machinery, and v x is the longitudinal velocity of the agricultural machinery, r is the angular velocity of the agricultural machinery, β is the sideslip angle of the agricultural machinery, α fl is the sideslip angle of the left front wheel of the agricultural machinery, α fr is the sideslip angle of the right front wheel of the agricultural machinery, α rl is the sideslip angle of the left rear wheel of the agricultural machinery, α rr It is the sideslip angle of the right rear wheel of the agricultural machinery.

[0029] According to Newton's second law, the body dynamics equation of agricultural machinery can be determined as:

[0030]

[0031] The forces on each tire of agricultural machinery in the body coordinate system are:

[0032] F x1 =F xfl cosδ-F yfl sinδ

[0033] F x2 =F xfr cosδ-F yfr sinδ

[0034] F x3 =F xrl

[0035] F x4 =F xrr

[0036] Among them, F x1 is the force on the left front tire of the agricultural machinery, in N, F x2 is the force on the right front tire of the agricultural machinery, in N; F x3 is the force on the left rear tire of the agricultural machinery, in N, F x4 is the force on the right rear tire of the agricultural machinery, in N.

[0037] By integrating the forces on each tire, the lateral dynamics model can be updated as follows:

[0038]

[0039] Among them, F y1 It can be the lateral force of the left front tire of the agricultural machinery, in N; F y2 It can be the lateral force of the front right tire of the agricultural machinery, in N, F y3 It can be the lateral force of the left rear tire of the agricultural machinery, in N, F y4 It can be the lateral force of the right rear tire of the agricultural machinery, with the unit of N.

[0040] According to vehicle dynamics theory, under the condition of good tire grip on hard road, the heading angular velocity r and the longitudinal velocity v of agricultural machinery are x The relationship between and the guide wheel rotation angle δ can be:

[0041]

[0042] Wherein, L is the wheelbase of the agricultural machinery.

[0043] Considering the soft soil in farmland and the side slip of agricultural machinery tires, the lateral force of tires is not as fast as on hard roads. Therefore, it can be assumed that there is a first-order lag link on the basis of the relationship between the heading angular velocity, that is, in the s domain, the relationship between the heading angular velocity r and the steering wheel angle δ can be expressed as:

[0044]

[0045] In the formula, K is the proportional coefficient of the first-order lag link, T is the time constant of the first-order lag link, and s is the Plath operator. The agricultural machinery yaw dynamics equation can be obtained by inversely transforming the formula to the time domain:

[0046]

[0047] Considering the scenario where the agricultural machinery follows the AB line on flat ground, ignoring the longitudinal motion, and the yaw motion is represented by a parameter model, the agricultural machinery model can be described as:

[0048]

[0049] Where e is the lateral deviation of the agricultural machinery.

[0050] F y1 ,F y2 ,F y3 ,F y4 are the tire lateral forces in the vehicle body coordinate system. However, when the steering wheel angle δ is very small, it can be approximated as the tire lateral force in the tire coordinate system, that is, F yfl ,F yfr ,F yrl ,F yrr . According to the standard agricultural machinery lateral force formula:

[0051] F yfl =F yfr =C αf α f ,

[0052] F yrl =F yrr =C αr α r ,

[0053] α f =δ-θ vf ,

[0054] α=-θ

[0055] RVr

[0056] Among them, θ vf can be the angle between the front wheel velocity vector of the agricultural machinery and the longitudinal axis of the vehicle, θ vr It can be the angle between the rear wheel velocity vector of the agricultural machinery and the longitudinal axis of the vehicle. vf ,θ vr It can be calculated by the following relationship:

[0057]

[0058] Among them, a is the front wheelbase of the agricultural machinery, and B is the rear wheelbase of the agricultural machinery.

[0059] When tan(θ) = θ at a small angle, the sideslip angle of the front and rear wheels can be rewritten as:

[0060]

[0061] Among them, α fis the front wheel sideslip angle of the agricultural machinery, α r It is the rear wheel sideslip angle of agricultural machinery.

[0062] Combining the above equations, we can get the lateral dynamic state space model of agricultural machinery:

[0063]

[0064] Among them, x is the target state, u is the first guide wheel angle,

[0065]

[0066] In step S106, a non-singular linear transformation is performed on the target state quantity to obtain the transformed target state quantity.

[0067] In practice, a non-singular linear transformation can be performed on the system, namely By converting the system state equation into a controllable standard form, a non-singular linear transformation can be performed on the target state quantity to obtain the transformed target state quantity:

[0068]

[0069] in,

[0070] In step S108, a non-singular terminal sliding film controller having a multi-level nested structure is used to determine a first sliding mode based on the transformed target state quantity.

[0071] In practice, since high-order dynamic models involve multiple variables and states, and there are complex interactions and nonlinear relationships between states, traditional sliding mode control algorithms are often difficult to deal with, which can easily lead to insufficient control accuracy and response speed, and singular points may appear, causing the control input to diverge. The use of a non-singular terminal sliding film controller with a multi-level nested structure can process these complex states layer by layer, so that the control strategy can more accurately adapt to the high-order characteristics of the system. In addition, in order to avoid singular points, a non-singular sliding surface can be designed to ensure that the control input is bounded. Therefore, the high-order characteristics and accuracy of the model can be maintained by nesting a non-singular fast terminal sliding mode controller.

[0072] In step S110, according to the first sliding mode, based on the terminal sliding film control rate algorithm, the target steering wheel angle is determined, and the agricultural machinery is controlled to continue driving based on the target steering wheel angle at the current moment.

[0073] In implementation, the server may calculate the following formula based on the first sliding mode and the terminal synovial control rate algorithm:

[0074]

[0075] Determine the target steering wheel angle, where u ′ is the target steering wheel angle, s k is the k-th first sliding mode, α k is the k-th first preset parameter greater than zero, β k is the k-th second preset parameter greater than zero, q k is the k-th third preset parameter, p k is the k-th fourth preset parameter, and the third preset parameter and the fourth preset parameter are odd numbers, q0 < p0, q1 < p1, q2 < p2, φ is the fifth preset parameter, and γ is the sixth preset parameter.

[0076] As Figure 3 shown, after determining the target steering wheel angle, a steering angle command can be output to the agricultural machinery steering system to control the agricultural machinery equipment to continue driving according to the target steering wheel angle, and the target steering wheel angle at the current moment is determined as the first steering wheel angle at the previous moment, and the target steering wheel angle at the current moment is continuously determined according to the first steering wheel angle at the previous moment until the agricultural machinery equipment completes all operation tasks.

[0077] An embodiment of this specification provides an agricultural machinery control method, which can obtain the first steering wheel angle of the agricultural machinery equipment at the previous moment, and based on the first steering wheel angle, determine the target state quantity of the agricultural machinery equipment at the current moment according to the pre-established lateral dynamic state space model, perform a non-singular linear transformation on the target state quantity to obtain the transformed target state quantity, and then use a non-singular terminal sliding mode controller with a multi-level nested structure to determine the first sliding mode based on the transformed target state quantity. Finally, the target steering wheel angle can be determined according to the first sliding mode based on the terminal sliding mode control rate algorithm, and the agricultural machinery equipment can be controlled to continue driving at the current moment based on the target steering wheel angle. In this way, when dealing with a relatively complex high-order dynamic model, the non-singular terminal sliding mode controller with a multi-level nested structure can be used to process complex states layer by layer, so that the control strategy can more accurately adapt to the high-order characteristics of the system and improve the navigation effect of the agricultural machinery equipment.

[0078] In practical applications, the target state quantity can include the lateral deviation e, the lateral velocity v y , the heading angle deviation ψ, and the heading angular velocity r.

[0079] In practical applications, after performing a non-singular linear transformation on the target state quantity, the lateral dynamic space model of the agricultural machinery equipment can be updated to (that is, the transformed target state quantity can be)

[0080]

[0081] in, is the target state quantity after the transformation, and is the derivative of the target state after the transformation, C αf is the front wheel heading angle deviation of the agricultural machinery, C αr is the rear wheel heading angle deviation of the agricultural machinery, T is the time constant of the first-order lag link, m is the mass of the agricultural machinery, v is the driving speed of the agricultural machinery, and u is the first guide wheel turning angle.

[0082] In practical applications, the above step S108 uses a non-singular terminal sliding film controller with a multi-level nested structure to determine the specific processing method of the first sliding mode based on the transformed target state quantity. The following is an optional processing method, such as Figure 4 As shown, the processing may specifically include the following step S1082.

[0083] In step S1082, a non-singular terminal synovial controller with a multi-level nested structure is used, based on the transformed target state quantity, according to the following formula:

[0084]

[0085] Determine a first sliding mode, wherein s0, s1, s2, s3 are the first sliding mode, α0, α1 and α2 are first preset parameters greater than zero, β0, β1 and β2 are second preset parameters greater than zero, q0, q1 and q3 are third preset parameters, p0, p1 and p2 are fourth preset parameters, and the third preset parameter and the fourth preset parameter are odd numbers, q0 <p0、q1<p1、q2<p2。

[0086] In implementation, a fourth-order nested non-singular fast terminal sliding mode with a recursive structure may be designed, and the specific sliding mode representation may be s0, s1, s2, s3.

[0087] In practical applications, the pre-established lateral dynamics state space model may include a cross slope interference term. In the above step S104, according to the pre-established lateral dynamics state space model, based on the first guide wheel angle, the specific processing method for determining the target state quantity of the agricultural machinery at the current moment can be various. An optional processing method is provided below, such as Figure 4 As shown, the processing may specifically include the following step S1042.

[0088] In step 1042, according to the pre-established lateral dynamic state space model, based on the first guide wheel angle, the following formula is used:

[0089]

[0090] Determine the target state of the agricultural machinery at the current moment, where x is the target state, is the derivative of the target state quantity, B is the rear wheelbase of the agricultural machinery, v x is the longitudinal speed of the agricultural machinery, v y is the lateral speed of the agricultural machinery, is the cross slope interference term, θ is the slope angle, g is the acceleration due to gravity, K is the proportional coefficient of the first-order lag link, and L is the wheelbase of the agricultural machinery.

[0091] In the implementation, since the state variable v in the lateral dynamics state space model of the agricultural machinery y It may be affected by the cross slope with gravity interference (the result of the force component of the agricultural machinery's gravity acting downward along the cross slope). When agricultural machinery equipment is working on the cross slope, it will be affected by gravity and cause the agricultural machinery equipment to produce lateral acceleration and lateral velocity along the cross slope downward, thereby increasing the lateral error and causing the agricultural machinery equipment to tilt and slide down the slope.

[0092] In order to overcome the influence of gravity interference, agricultural machinery needs to generate enough lateral force to maintain balance. Therefore, agricultural machinery can turn the steering wheel upward to generate a side slip angle, and finally achieve stability by adjusting the steering angle of the agricultural machinery. Since gravity interference always exists, when the agricultural machinery is driving in a steady state, its heading angle does not converge to 0, but remains in the upward direction along the horizontal slope, and the lateral error is not 0. In order to accurately capture the dynamic behavior of agricultural machinery when operating on a horizontal slope, the lateral dynamic state space model of agricultural machinery can be updated as follows:

[0093]

[0094] That is, a vehicle dynamics model containing slope interference can be constructed.

[0095] In practical applications, in the above step S110, according to the first sliding mode, based on the terminal synovial control rate algorithm, the specific processing method for determining the target steering wheel angle can be various. An optional processing method is provided below, such as Figure 7 As shown, the process may specifically include the following steps S1102 to S1108.

[0096] In step S1102, according to the first sliding mode, based on the terminal synovial film control rate algorithm, the second guide wheel angle is determined.

[0097] In step S1104, a second sliding mode is determined by using a sliding film observer according to the disturbance estimation determined by the disturbance observer and the transformed target state quantity.

[0098] In the implementation, it is assumed that the composite perturbation d i is continuous and satisfies:

[0099]

[0100] Among them, μ i >0, i=1,2,3,4,j=0,1,…,4-i.

[0101] Considering the influence of the cross slope, the lateral dynamic state space model of agricultural machinery on the cross slope is transformed into:

[0102]

[0103] Composite interference d i To estimate, the disturbance observer can be designed as:

[0104]

[0105] in: Can be used to represent interference d i At the j-1th estimated value, p ij is the initial value, where p ir For the last item, l ij is the gain factor, l ir For the last item, j=1,…,r-1, r=4-i.

[0106] The estimation error of the disturbance observer can be defined as:

[0107]

[0108] in, is the estimation error, For actual interference, is an estimated value, is the error vector, l ij Selecting an appropriate value can ensure that D i The characteristic roots of are all in the left half plane.

[0109] We can define a positive definite matrix P i :

[0110]

[0111] Among them, Q i is a fixed matrix, λ mi Q i The smallest eigenvalue.

[0112] The Lyapunov equation can be defined as:

[0113]

[0114] Where V is the Lyapunov function.

[0115]

[0116] Therefore

[0117] Among them, ‖P i E i ‖ is the matrix P i E i The norm of .

[0118] The sliding surface based on the disturbance observer can be designed as:

[0119]

[0120] in, and is the second sliding mode.

[0121] In step S1106, according to the second sliding mode, based on the terminal synovial film control rate algorithm, the third guide wheel angle is determined.

[0122] In implementation, Among them, u ‘’ is the turning angle of the third guide wheel.

[0123] In step S1108, the second steering wheel angle is compensated according to the third steering wheel angle to obtain a target steering wheel angle.

[0124] In practical applications, in the above step S1108, the second guide wheel angle is compensated according to the third guide wheel angle, and the specific processing method for obtaining the target guide wheel angle can be various. An optional processing method is provided below, which can specifically include the processing of the following steps A1 to A4.

[0125] In step A1, according to the correspondence between the direction and the guide wheel angle preset by the synovial observer, based on the third guide wheel angle, a first direction corresponding to the third guide wheel angle is determined.

[0126] In implementation, for example, the correspondence between direction and guide wheel angle may be that if the guide wheel angle is a positive value, the corresponding direction may be to the left, and if the guide wheel angle is a negative value, the corresponding direction may be to the right. Based on this correspondence, the first direction corresponding to the third guide wheel angle may be determined.

[0127] In step A2, a target steering wheel angle is determined according to the steering wheel direction of the agricultural machinery and the first direction, based on the second steering wheel angle and the third steering wheel angle.

[0128] In implementation, Figure 5 As shown, the target steering wheel angle can be determined according to the steering wheel direction and the first direction of the agricultural machinery based on the second steering wheel angle and the third steering wheel angle.

[0129] Specifically, Figure 6 As shown, if the direction of the guide wheel is consistent with the first direction, the third guide wheel angle can be superimposed on the second guide wheel angle to obtain the target guide wheel angle; if the direction of the guide wheel is inconsistent with the first direction, the third guide wheel angle can be subtracted from the second guide wheel angle to obtain the target guide wheel angle.

[0130] In order to meet the requirements of path tracking of combined agricultural machinery on cross slopes, a high-order dynamic model of cross slope disturbance is introduced to accurately capture the dynamic behavior of agricultural machinery when operating on cross slopes. In order to deal with the multiple variables and states involved in the high-order dynamic model and the insufficient control accuracy and response speed caused by the traditional sliding mode control algorithm, as well as the possible occurrence of singular points, a nested non-singular fast terminal sliding mode controller is designed to maintain the high-order characteristics and accuracy of the model. At the same time, a sliding mode observer is designed to observe the disturbance of the cross slope. By estimating the system state and disturbance information in real time, it can greatly improve the stability and path tracking accuracy of agricultural machinery equipment operating on cross slope terrain, thereby eliminating the influence of slope.

[0131] Different from the traditional second-order dynamic model, the fourth-order dynamic model (i.e., lateral dynamic state space model) is established with lateral deviation, lateral velocity, heading angular deviation and heading angular velocity as state quantities. It can more accurately describe the dynamic behavior of agricultural machinery and better respond to external interference, laying the foundation for the design of high-order sliding mode control.

[0132] Introducing slope disturbances into the high-order dynamics model can accurately capture the dynamic behavior of agricultural machinery when operating on a slope. Based on the high-order dynamics model, a nested non-singular fast terminal sliding mode controller is designed. The multi-level nested structure can handle complex states layer by layer, and the non-singular fast terminal sliding surface is designed to avoid singular points and improve the accuracy and speed of control. The slope disturbance is observed by the sliding mode observer, and the system state and disturbance information are estimated in real time. The disturbance is compensated to each channel of the control model, which can greatly improve the stability and path tracking accuracy of agricultural machinery operating on a slope, thereby eliminating the influence of the slope.

[0133] The embodiment of this specification provides an agricultural machinery control method, which can obtain the first guide wheel angle of the agricultural machinery equipment at the previous moment, determine the target state quantity of the agricultural machinery equipment at the current moment based on the first guide wheel angle according to the pre-established lateral dynamic state space model, perform a non-singular linear transformation on the target state quantity to obtain the transformed target state quantity, and then use a non-singular terminal sliding film controller with a multi-level nested structure to determine the first sliding mode based on the transformed target state quantity. Finally, according to the first sliding mode, based on the terminal sliding film control rate algorithm, the target guide wheel angle can be determined, and the agricultural machinery equipment can be controlled to continue driving based on the target guide wheel angle at the current moment. In this way, when processing a more complex high-order dynamic model, the complex state can be processed layer by layer through a non-singular terminal sliding film controller with a multi-level nested structure, so that the control strategy can more accurately adapt to the high-order characteristics of the system and improve the navigation effect of navigating the agricultural machinery equipment.

[0134] The above is the agricultural machinery control method provided by the embodiment of this specification. Based on the same idea, the embodiment of this specification also provides an agricultural machinery control device, such as Figure 7 shown.

[0135] The agricultural machinery control device comprises: an angle acquisition module 701, a first determination module 702, a transformation module 703, a second determination module 704 and an angle determination module 705, wherein:

[0136] Angle acquisition module 701, used to acquire the first guide wheel rotation angle of the agricultural machinery at the last moment;

[0137] A first determination module 702 is used to determine the target state quantity of the agricultural machinery at the current moment based on the first guide wheel angle according to a pre-established lateral dynamic state space model;

[0138] A transformation module 703 is used to perform a non-singular linear transformation on the target state quantity to obtain a transformed target state quantity;

[0139] A second determination module 704 is used to determine the first sliding mode based on the transformed target state quantity by using a non-singular terminal sliding film controller with a multi-level nested structure;

[0140] The angle determination module 705 is used to determine the target steering wheel angle according to the first sliding mode and based on the terminal sliding film control rate algorithm, and control the agricultural machinery to continue driving based on the target steering wheel angle at the current moment.

[0141] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the agricultural machinery control device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0142] The embodiment of this specification provides an agricultural machinery control device, which can obtain the first guide wheel angle of the agricultural machinery equipment at the previous moment, determine the target state quantity of the agricultural machinery equipment at the current moment based on the first guide wheel angle according to the pre-established lateral dynamic state space model, perform a non-singular linear transformation on the target state quantity to obtain the transformed target state quantity, and then use a non-singular terminal sliding film controller with a multi-level nested structure to determine the first sliding mode based on the transformed target state quantity. Finally, according to the first sliding mode, based on the terminal sliding film control rate algorithm, the target guide wheel angle can be determined, and the agricultural machinery equipment can be controlled to continue driving based on the target guide wheel angle at the current moment. In this way, when processing a more complex high-order dynamic model, the complex state can be processed layer by layer through a non-singular terminal sliding film controller with a multi-level nested structure, so that the control strategy can more accurately adapt to the high-order characteristics of the system and improve the navigation effect of navigating the agricultural machinery equipment.

[0143] The above is an agricultural machinery control device provided in the embodiments of this specification. Based on the same idea, the embodiments of this specification also provide an agricultural machinery control device, such as Figure 8 shown.

[0144] The agricultural machinery control device may provide a terminal device or a server, etc. for the above-mentioned embodiments.

[0145] The agricultural machinery control device may have relatively large differences due to different configurations or performances, and may include one or more processors 801 and memory 802, and the memory 802 may store one or more storage applications or data. Among them, the memory 802 can be short-term storage or persistent storage. The application stored in the memory 802 may include one or more modules (not shown in the figure), and each module may include a series of computer executable instructions in the agricultural machinery control device. Furthermore, the processor 801 can be configured to communicate with the memory 802 to execute a series of computer executable instructions in the memory 802 on the agricultural machinery control device. The agricultural machinery control device may also include one or more power supplies 803, one or more wired or wireless network interfaces 804, one or more input and output interfaces 805, and one or more keyboards 806.

[0146] Specifically in this embodiment, the agricultural machinery control device includes a memory and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs may include one or more modules, and each module may include a series of computer executable instructions in the agricultural machinery control device, and the one or more programs are configured to be executed by one or more processors, including the following computer executable instructions:

[0147] Obtaining the first guide wheel angle of the agricultural machinery at the previous moment;

[0148] According to a pre-established lateral dynamic state space model, based on the first guide wheel angle, determining a target state quantity of the agricultural machinery at the current moment;

[0149] Performing a non-singular linear transformation on the target state quantity to obtain a transformed target state quantity;

[0150] Determine a first sliding mode based on the transformed target state quantity by using a non-singular terminal sliding film controller having a multi-level nested structure;

[0151] According to the first sliding mode, based on the terminal sliding film control rate algorithm, the target steering wheel angle is determined, and the agricultural machinery is controlled to continue traveling based on the target steering wheel angle at the current moment.

[0152] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the agricultural machinery control equipment embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0153] The embodiment of this specification provides an agricultural machinery control device, which can obtain the first guide wheel angle of the agricultural machinery at the previous moment, determine the target state quantity of the agricultural machinery at the current moment based on the first guide wheel angle according to the pre-established lateral dynamic state space model, perform a non-singular linear transformation on the target state quantity to obtain the transformed target state quantity, and then use a non-singular terminal sliding film controller with a multi-level nested structure to determine the first sliding mode based on the transformed target state quantity. Finally, according to the first sliding mode, based on the terminal sliding film control rate algorithm, the target guide wheel angle can be determined, and the agricultural machinery can be controlled to continue driving based on the target guide wheel angle at the current moment. In this way, when processing a more complex high-order dynamic model, the complex state can be processed layer by layer through a non-singular terminal sliding film controller with a multi-level nested structure, so that the control strategy can more accurately adapt to the high-order characteristics of the system and improve the navigation effect of navigating the agricultural machinery.

[0154] Furthermore, based on the above Figures 1 to 6 In one embodiment, the present specification further provides a storage medium for storing computer executable instruction information. In a specific embodiment, the storage medium may be a USB flash drive, an optical disk, a hard disk, etc. When the computer executable instruction information stored in the storage medium is executed by the processor, the following process can be implemented:

[0155] Obtaining the first guide wheel angle of the agricultural machinery at the previous moment;

[0156] According to a pre-established lateral dynamic state space model, based on the first guide wheel angle, determining a target state quantity of the agricultural machinery at the current moment;

[0157] Performing a non-singular linear transformation on the target state quantity to obtain a transformed target state quantity;

[0158] Determine a first sliding mode based on the transformed target state quantity by using a non-singular terminal sliding film controller having a multi-level nested structure;

[0159] According to the first sliding mode, based on the terminal sliding film control rate algorithm, the target steering wheel angle is determined, and the agricultural machinery is controlled to continue traveling based on the target steering wheel angle at the current moment.

[0160] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the above-mentioned storage medium embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0161] The embodiment of this specification provides a storage medium, which can obtain the first guide wheel angle of the agricultural machinery at the previous moment, determine the target state quantity of the agricultural machinery at the current moment based on the first guide wheel angle according to the pre-established lateral dynamic state space model, perform a non-singular linear transformation on the target state quantity to obtain the transformed target state quantity, and then use a non-singular terminal sliding film controller with a multi-level nested structure to determine the first sliding mode based on the transformed target state quantity. Finally, according to the first sliding mode, based on the terminal sliding film control rate algorithm, the target guide wheel angle can be determined, and the agricultural machinery can be controlled to continue driving based on the target guide wheel angle at the current moment. In this way, when processing a more complex high-order dynamic model, the complex state can be processed layer by layer through a non-singular terminal sliding film controller with a multi-level nested structure, so that the control strategy can more accurately adapt to the high-order characteristics of the system and improve the navigation effect of navigating the agricultural machinery.

[0162] Furthermore, based on the above Figures 1 to 6 In one or more embodiments of the present specification, a computer program product is provided, including a computer program. When the computer program in the computer program product is executed by a processor, the following process can be implemented:

[0163] Obtaining the first guide wheel angle of the agricultural machinery at the previous moment;

[0164] According to a pre-established lateral dynamic state space model, based on the first guide wheel angle, determining a target state quantity of the agricultural machinery at the current moment;

[0165] Performing a non-singular linear transformation on the target state quantity to obtain a transformed target state quantity;

[0166] Determine a first sliding mode based on the transformed target state quantity by using a non-singular terminal sliding film controller having a multi-level nested structure;

[0167] According to the first sliding mode, based on the terminal sliding film control rate algorithm, the target steering wheel angle is determined, and the agricultural machinery is controlled to continue traveling based on the target steering wheel angle at the current moment.

[0168] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the above-mentioned computer program product embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0169] The embodiment of this specification provides a computer program product, which can obtain the first guide wheel angle of the agricultural machinery at the previous moment, determine the target state quantity of the agricultural machinery at the current moment based on the first guide wheel angle according to the pre-established lateral dynamic state space model, perform a non-singular linear transformation on the target state quantity to obtain the transformed target state quantity, and then use a non-singular terminal sliding film controller with a multi-level nested structure to determine the first sliding mode based on the transformed target state quantity. Finally, according to the first sliding mode, based on the terminal sliding film control rate algorithm, the target guide wheel angle can be determined, and the agricultural machinery can be controlled to continue driving based on the target guide wheel angle at the current moment. In this way, when processing a more complex high-order dynamic model, the complex state can be processed layer by layer through a non-singular terminal sliding film controller with a multi-level nested structure, so that the control strategy can more accurately adapt to the high-order characteristics of the system and improve the navigation effect of navigating the agricultural machinery.

[0170] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0171] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0172] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0173] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0174] For the convenience of description, the above devices are described in terms of functions and are divided into various units. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0175] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, one or more embodiments of this specification may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, one or more embodiments of this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0176] The embodiments of this specification are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable fraud case serial and parallel device to produce a machine, so that the instructions executed by the processor of the computer or other programmable fraud case serial and parallel device generate instructions for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0177] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable fraud case serial and parallel device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0178] These computer program instructions may also be loaded onto a computer or other programmable device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0179] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0180] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0181] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0182] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0183] It should be understood by those skilled in the art that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, one or more embodiments of this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, one or more embodiments of this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0184] One or more embodiments of the present specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. One or more embodiments of the present specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0185] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0186] The above description is only an embodiment of this specification and is not intended to limit this document. For those skilled in the art, this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification should be included in the scope of the claims of this specification.

Claims

1. A method for controlling an agricultural machine, the method comprising: Obtaining the first guide wheel angle of the agricultural machinery at the previous moment; According to a pre-established lateral dynamic state space model, based on the first guide wheel angle, determining a target state quantity of the agricultural machinery at the current moment; Performing a non-singular linear transformation on the target state quantity to obtain a transformed target state quantity; Determine a first sliding mode based on the transformed target state quantity by using a non-singular terminal sliding film controller having a multi-level nested structure; According to the first sliding mode, based on the terminal sliding film control rate algorithm, the target steering wheel angle is determined, and the agricultural machinery is controlled to continue traveling based on the target steering wheel angle at the current moment. 2 . The method according to claim 1 , wherein the target state quantity comprises lateral deviation, lateral velocity, heading angle deviation and heading angle velocity.

3. According to the method of claim 2, the target state quantity after the transformation is in, is the target state quantity after the transformation, and is the derivative of the target state after the transformation, C αf is the front wheel heading angle deviation of the agricultural machinery, C αr is the rear wheel heading angle deviation of the agricultural machinery, T is the time constant of the first-order lag link, m is the mass of the agricultural machinery, v is the driving speed of the agricultural machinery, and u is the first guide wheel turning angle.

4. The method according to claim 3, wherein the determining the first sliding mode based on the transformed target state quantity using a non-singular terminal sliding film controller having a multi-level nested structure comprises: Using the non-singular terminal synovial controller with a multi-level nested structure, based on the transformed target state quantity, according to the following formula: Determine the first sliding mode, wherein s0, s1, s2, s3 are the first sliding modes, α0, α1 and α2 are first preset parameters greater than zero, β0, β1 and β2 are second preset parameters greater than zero, q0, q1 and q3 are third preset parameters, p0, p1 and p2 are fourth preset parameters, and the third preset parameter and the fourth preset parameter are odd numbers, q0 <p0、q1<p1、q2<p2。 5. The method according to claim 4, wherein the pre-established lateral dynamics state space model includes a cross slope interference term, and the method of determining the target state quantity of the agricultural machinery at the current moment based on the first guide wheel angle according to the pre-established lateral dynamics state space model comprises: According to the pre-established lateral dynamic state space model, based on the first steering wheel angle, according to the following formula Determine the target state quantity of the agricultural machinery at the current moment, where x is the target state quantity, is the derivative of the target state quantity, B is the rear wheelbase of the agricultural machinery, v x is the longitudinal speed of the agricultural machinery, v y is the lateral speed of the agricultural machinery, is the cross slope interference term, θ is the slope angle, g is the acceleration due to gravity, K is the proportional coefficient of the first-order lag link, and L is the wheelbase of the agricultural machinery.

6. The method according to claim 5, wherein determining the target steering wheel angle according to the first sliding mode and based on a terminal synovial control rate algorithm comprises: According to the first sliding mode, based on the terminal synovial control rate algorithm, determining a second guide wheel rotation angle; Determine a second sliding mode using a sliding film observer according to a disturbance estimation determined by a disturbance observer and the transformed target state quantity; According to the second sliding mode, based on the terminal synovial control rate algorithm, determining a third guide wheel rotation angle; The second steering wheel rotation angle is compensated according to the third steering wheel rotation angle to obtain the target steering wheel rotation angle.

7. The method according to claim 6, wherein the compensating process for the second guide wheel angle according to the third guide wheel angle to obtain the target guide wheel angle comprises: According to the correspondence between the direction preset by the synovial observer and the guide wheel angle, based on the third guide wheel angle, determining a first direction corresponding to the third guide wheel angle; The target steering wheel angle is determined according to the steering wheel direction of the agricultural machinery and the first direction, based on the second steering wheel angle and the third steering wheel angle.

8. An agricultural machinery control device, comprising: An angle acquisition module, used to acquire the first guide wheel rotation angle of the agricultural machinery at the previous moment; A first determination module is used to determine the target state quantity of the agricultural machinery at a current moment based on the first guide wheel angle according to a pre-established lateral dynamic state space model; A transformation module, used for performing a non-singular linear transformation on the target state quantity to obtain a transformed target state quantity; A second determination module is used to determine the first sliding mode based on the transformed target state quantity by using a non-singular terminal sliding film controller with a multi-level nested structure; The angle determination module is used to determine the target steering wheel angle according to the first sliding mode and based on the terminal sliding film control rate algorithm, and control the agricultural machinery to continue driving based on the target steering wheel angle at the current moment.

9. An agricultural machinery control device, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the agricultural machinery control method as claimed in any one of claims 1 to 7.

10. A computer program product, characterized in that It comprises a computer program, which, when executed by a processor, implements the steps of the agricultural machinery control method according to any one of claims 1 to 7.

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