基于自动导航技术的小型履带拖拉机虚拟转角研究

Research on Virtual Rotation Angle of Small Crawler Tractor under Automatic Navigation Technology

自动导航系统主要以四轮拖拉机前轮转角和速度为控制和反馈变量,不能直接在小型履带拖拉机上进行改装。以小型履带拖拉机为研究对象,分析履带拖拉机的转向原理和控制机制,分析虚拟前轮转角和拖拉机的前进速度、转弯半径的关系,设计在履带驱动轮安装转速传感器,提出用平均单侧速度平均速度差表示两侧速度差的方法,将履带拖拉机的曲线转向过程分解为直线行驶和转向两个过程,通过对圆形目标路径进行转弯仿真,该方法效果有效。

The automatic navigation system mainly takes the front wheel angle and speed of four-wheel tractor as the control and feedback variables,so it can’t be refitted directly on the small crawler tractor.We study on a small crawler tractor,analyzing the steering principle and control mechanism,analyzing the relationship between the virtual rotation angle and the velocity of the tractor.We design a method of installing a speed sensor on the driving wheels of the tractor,using the average speed instead of the average speed to represent the speed difference between the two sides.We decompose the steering process of a tracked tractor into two processes:straight driving and steering.By simulating the turning of a circular target path,this method is effective.