摘要
Abstract
Aiming at the problems of large path deviation,slow response and poor electromechanical coupling of the cur-rent automatic driving system of agricultural machinery in the complex operating environment,this article proposes an environment sensing scheme based on multi-sensor fusion,and constructs a path planning and tracking control model suitable for complex farmland terrain,combining with the distributed control architecture of the CAN bus,and integra-ting various actuators such as steering,electric drive,hydraulic,etc.,and realizing a stable and efficient automatic control.The results show that by optimizing the electromechanical integration method and control strategy,the operation-al performance and reliability of the agricultural machinery automatic driving system in irregular terrain and variable working conditions can be significantly improved.The research in this article provides theoretical basis and technical support for promoting the intelligent and precise operation of agricultural machinery.关键词
农机自动驾驶/机电集成/控制策略/路径跟踪/复杂环境Key words
automatic driving of agricultural machines/electromechanical integration/control strategy/path tracking/complex environment分类
农业科技
