自动驾驶插秧机控制系统的设计与试验

Design and Experiment of Control System for AutomaticDriving Transplanter

为解决插秧机作业精度要求高、智能化程度低的问题,对插秧机进行改装,并对自动驾驶技术的全局覆盖路径规划和路径跟踪控制算法进行了研究。首先,搭建以井关PZ60型插秧机为试验平台的自动驾驶插秧机硬件平台;其次,对目标地块进行静态全局覆盖路径规划,设计改进型纯追踪模型并提出基于模糊PID的转向控制方法,实现插秧机自动驾驶的路径跟踪问题;最后,进行插秧机自动驾驶控制系统的田间试验,验证插秧机自动驾驶系统实现预定义路径跟踪的作业性能。

In order to solve the problem of high precision and low intelligence of transplanter,this paper studies the global coverage path planning and path tracking control algorithm of automatic driving technology.First of all,the hardware platform of automatic driving transplanter with Jingguan PZ60 transplanter as the test platform was built.Secondly,the static global coverage path planning of the target plot is carried out,the improved pure tracking model is designed,and the steering control method based on fuzzy PID is proposed to realize the path tracking problem of automatic driving of the transplanter.Finally,the field experiment of the automatic driving control system of the transplanter was carried out to verify the operation performance of the automatic driving system of the transplanter to achieve the predetermined path tracking.