农机化研究2024，Vol.46Issue(7)：32-37,6.
拖拉机旋耕机组路径导航控制方法
Path Navigation Control Method of Tractor Rotary Cultivator Group Based on Lateral Force Limitation
摘要
Abstract
Tractor as a self-propelled agricultural power machinery,only equipped with the corresponding agricultural machinery can complete mechanical operation.In recent years,most of the researches on automatic navigation control of tractors regard tractors as independent individuals,without considering the stress of agricultural machinery and tools in the control process.In this paper,a dual-objective joint path tracking control algorithm based on the lateral position devia-tion of the tractor and the lateral force of the rotary cultivator is proposed on the platform of the rotary tractor.CarSim and Matlab/Simulink are used to carry out co-simulation.The simulation results show that the control algorithm can ensure that the lateral force of the rotary cultivator is stable within the target value and the path tracking accuracy is high.关键词
拖拉机旋耕机组/导航控制/农机具侧向受力/路径跟踪Key words
tractor rotary cultivator group/navigation control/lateral force of agricultural machinery and tools/path tracking分类
农业科技引用本文复制引用
唐昊,韩江义,颜兴祥..拖拉机旋耕机组路径导航控制方法[J].农机化研究,2024,46(7):32-37,6.基金项目
苏北科技专项-先导性项目(SZ-YC202165) （SZ-YC202165）
