智能化农业装备学报（中英文）2026，Vol.7Issue(1)：86-95,10.DOI:10.12398/j.issn.2096-7217.2026.01.009
基于IPSO-FUZZY-PP的履带式甘蓝收获机路径跟踪控制器的研究
Research on path tracking controller of crawler-type cabbage harvester based on IPSO-FUZZY-PP
摘要
Abstract
Aiming at the problems of low tracking accuracy and poor scene adaptability of the existing differential tracked chassis path tracking controller,this study uses a small light and simple tracked cabbage harvester as a test platform to innovatively design an improved particle swarm optimization(IPSO)with fore-look distance adaptive fuzzy pure tracking controller(IPSO-FUZZY-PP).First,the study analyzes the operating characteristics of the cabbage harvester's pulling roller,and the cabbage's demand for navigation accuracy is determined.Then,the differential kinematics model of the crawler harvester is constructed to clarify the relationship between the track speed on both sides and the driving and steering states.The lateral deviation and heading deviation are used as the input of the fuzzy controller,and the PWM duty cycle difference of the two-sided motor is used as the output.The IPSO algorithm is used to dynamically optimize the fore-look distance.The simulation results show that the convergence speed of the controller is 60%higher than that of the traditional particle swarm optimization algorithm,which can effectively avoid the local optimal solution.In the cement pavement test(driving speed of 0.5 m/s),the maximum tracking deviation of the controller is 0.035 m,and the average absolute deviation is 0.017 m.Compared with the traditional pure tracking controller,the accuracy is improved by 34.6%,the rise time is shortened from 1.71 s to 0.76 s,and the response speed is improved by 55.6%.In the field test(driving speed 0.3,0.5,0.8 m/s),the maximum tracking deviation is not more than 0.031 m,0.037 m,0.041 m,respectively,and the average absolute deviation is controlled within 0.010 m,0.015 m,0.018 m,respectively.Compared with the traditional pure tracking controller,the accuracy is improved.The controller proposed in this study can dynamically adapt to the narrow row spacing and multi-speed conditions of cabbage harvest,meet the accuracy requirements of cabbage harvest navigation,and provide technical support for the precise alignment of unmanned cabbage harvest.关键词
甘蓝/履带式收获机/纯跟踪/粒子群算法/精准作业/模糊控制Key words
cabbage/crawler harvester/pure tracking/particle swarm optimization algorithm/precise operation/fuzzy control分类
农业科技引用本文复制引用
高旭,张健飞,赵闰,杨旭辉,刘建博..基于IPSO-FUZZY-PP的履带式甘蓝收获机路径跟踪控制器的研究[J].智能化农业装备学报（中英文）,2026,7(1):86-95,10.基金项目
国家重点研发计划项目(2023YFD2001203) （2023YFD2001203）
江苏省农机研发制造推广应用一体化试点专项项目(JSYTH10) National Key Research and Development Program of China(2023YFD2001203) （JSYTH10）
Jiangsu Agricultural Machinery Research and Development Manufacturing Application Integration Pilot Special Project(JSYTH10) （JSYTH10）
