农业工程2026，Vol.16Issue(5)：98-105,8.DOI:10.19998/j.cnki.2095-1795.202510312
履带式拖拉机差速转向控制系统设计
Design on differential steering control system of crawler tractor
摘要
Abstract
To address problems of response lag,large energy consumption,and insufficient handling accuracy in traditional differen-tial steering method of crawler tractor,a state feedback-based differential steering control system has been proposed.Firstly,principles of crawler tractor steering mechanism have been analyzed.Secondly,according to kinematics model of crawler tractor,differential steering control method based on pulse width modulation has been designed.Precise adjustment of left and right track drive force has been achieved by establishing state space model of system and adopting state feedback control strategy.Thirdly,a STM32F4 single chip microcomputer has been applied as core to carry out linear path planning and steering contro.Finally,field tests were carried out for val-idation.Results showed that at an operating speed of 3 km/h,average path deviation of differential steering method was 2.2 cm,which was better than that of traditional unilateral braking method.Furthermore,standard deviation of deviation was reduced by about 1.0 cm,indicating a significant improvement in path tracking accuracy.A theoretical basis and technical support for achieving high-pre-cision autonomous steering control of crawler tractor in complex farmland environment have been provided.关键词
履带式拖拉机/差速转向/单片机/控制方法/PWMKey words
crawler tractor/differential steering/single chip microcomputer/control method/PWM分类
农业科技引用本文复制引用
龚应育,杨茂彬,郑伟宏..履带式拖拉机差速转向控制系统设计[J].农业工程,2026,16(5):98-105,8.基金项目
四川省高等学校人文社会科学重点研究基地四川高等职业教育研究中心立项项目(GZY25Z06) （GZY25Z06）
成都市哲学社会科学重点研究中心成都市工匠文化研究中心项目(2025YB14) （2025YB14）
2024年中国高校产学研创新基金智能物联网创新教育专项课题(2024WA041) （2024WA041）
