无人收获机协同作业行驶控制研究

Research on Driving Control Cooperative Operation ofUnmanned Harvester

针对无人收获机需要自主收获农作物并与无人拖拉机协同转运粮食的功能,考虑无人收获机配备的各节点控制单元对行驶控制的不同作用,对各节点控制单元的控制功能进行定义并且确定控制执行的优先级。在Simulink中根据不同工况制定行驶控制策略,选择合理的行驶速度及方向。根据无人收获机的传动结构,将最终请求的行驶速度通过预测算法及PID控制,实现无人收获机行驶速度控制,试验结果表明该方法满足无人收获机协同作业中行驶控制的需求。

In view of the function of unmanned harvester to harvest crops independently and cooperate with unmanned tractor to transport grain,considering the different functions of each node control unit equipped with unmanned harvester on driving control,the control function of each node control unit was defined and the priority of control execution was determined.In Simulink,driving control strategy is formulated according to different working conditions,and reasonable driving speed and direction are selected.According to the transmission structure of the unmanned harvester,the driving speed of the unmanned harvester was controlled by the prediction algorithm and PID control.The experimental results show that this method meets the driving control needs of the unmanned harvester in the cooperative operations.