农机化研究2026，Vol.48Issue(7)：253-259,7.DOI:10.13427/j.issn.1003-188X.2026.07.032
基于手动换挡拖拉机无人驾驶改装及试验
Unmanned Driving Modification and Testing Based on Manual Shifting Tractor
摘要
Abstract
According to the problems of the large number of traditional power shift tractors in rural areas,the high degree of aging in rural areas,combined with the rapid development of information technology,sensor technology and artificial intelligence technology,a set of unmanned driving control system of the tractor was designed based on the research of Dongfanghong LX1504 power shift tractor to realize the functions of unmanned driving,path planning,intelligent obstacle avoidance,and autonomous turning of the tractor.The working principle of the unmanned driving control system was ex-pounded,the selection and calculation of the electric actuator of the unmanned tractor modification hardware were em-phatically selected,mainly to modify the hardware actuators such as clutches,brakes,suspension lifters and steering ma-chines of powershift tractors,and to add tire angle sensors,and the control algorithm of the tracking controller was dis-cussed.The intelligent corn sowing test of the unmanned tractor was carried out,and the results showed that the un-manned tractor modified by power shift realized the functions of path planning,sowing operation,U-turn,intelligent ob-stacle avoidance,suspension automatic lifting,etc.,and the accuracy of linear operation in the process of seeding opera-tion was 1.908 cm,the accuracy of handover operation was 2.012 cm,and the control accuracy of deviation from the planned path when turning and turning was 37.568 cm.关键词
无人驾驶/追踪控制/执行机构/控制算法Key words
unmanned driving/tracking control/implementing agencies/control algorithm分类
信息技术与安全科学引用本文复制引用
张俊杰,马志凯,么立申,袁兴茂,张西群,李霄鹤,焦海涛..基于手动换挡拖拉机无人驾驶改装及试验[J].农机化研究,2026,48(7):253-259,7.基金项目
河北省农林科学院现代农业科技创新专项(2022KJCXZX-NJS-4) （2022KJCXZX-NJS-4）
