轮式拖拉机机械诱导导航技术研究

Machine-induced Navigation Technology of Wheeled Tractor

为实现果园机械自动化,开发了一种结构简单的拖拉机机械式导航系统。以车辆的航向偏差、横向偏差和前轮转角为输入量,转向驱动电机的转速为输出量,设计了车辆直线跟踪的PID控制器。实验结果表明,当拖拉机行驶速度为0.5 3m/s时,最大横向偏差小于0.1m,能够满足拖拉机果园作业的要求。

The orchard tractor was developed that was based on a simple and reliable mechanical auto-matic navigation system.A PID controller was designed for automatic travelling.The orientation deviat-ion,lateral deviation and steering angle of front-wheel were used as the input of the controller.The out-put of the controller was the rate of the steering motor.The tests showed that the maximum offset err-or was less than 0.1 m at the traveling speeds of 0.53 m/s.The designed PID controller can satisfy thedemand of lining-following control.