拖拉机自动导航与机具偏转导航的仿真对比研究

Comparative Research of Simulation on the Automatic Guidance System for Tractor and the Deflexion Guidance System for Machinery

针对现有免耕播种机在玉米秸秆立茬覆盖地免耕播种困难的问题,设计了拖拉机自动导航系统和机具偏转导航系统以实现免耕播种机具的避茬播种。在综合分析成本和导航精度的基础上,设计了机械式触杆作为两种导航系统的探测装置,并通过MATLAB/Simulink仿真,对比研究了两种导航系统的实时响应特性、控制精度和稳定性等。仿真结果表明:相对拖拉机自动导航系统,机具偏转导航系统可以提高3s左右的实时响应时间,并可提高控制精度,但其超调量范围大、稳定性较差。因此,在导航精度要求较高时,可采用机具偏转导航系统,提高免耕播种机具的田间通过性。

It is difficult for no -tillage seeders to seed in the no - tillage field with stubbles standing on it, To solve this generally existing problem, an automatic guidance system for tractor and a deflexion guidance system for machinery were respectively designed to help seed without touching stubbles. Considering the cost and automatic guidance precision, a mechanical sensor was set up as detection device for the two automatic guidance systems. By simulating with MATLAB, comparative researches on the two automatic guidance systems in terms of real - time response characteristics, control accuracy and stability were conducted and the results of simulation study indicated that ： the real - time response characteristics of deflexion guidance system for machinery is relatively faster by about 3 seconds than that of the automatic guidance system for tractor, and has higher control precision. But it has big overshoot and bad stability. Therefore, when a high level of guidance precision is demanded, we could choose the deflexion guidance system for machinery to improve the trafficability of no - tillage seeders.