农业机械学报2026，Vol.57Issue(12)：99-110,12.DOI:10.6041/j.issn.1000-1298.2026.12.009
基于转向非线性模糊补偿的水田履带拖拉机路径跟踪控制方法
Path Tracking Control for Crawler Tractors in Paddy Fields Based on Fuzzy Compensation for Nonlinear Steering Characteristics
摘要
Abstract
Aiming at the problem of path tracking accuracy degradation in crawler tractors operating in paddy fields,caused by the nonlinearity of differential steering and track slippage,an automatic navigation control method was proposed based on real-time sideslip estimation and fuzzy compensation.A kinematic model of the crawler tractor was established.Through steering system parameter identification and neutral calibration,the linear relationship between steering control parameters and steering curvature was determined,and an adaptive preview pure pursuit algorithm was designed.Building upon this foundation,sideslip estimation was performed via kinematic analysis,and a fuzzy controller using real-time slip rate and desired steering angle as inputs was constructed to correct decision-making deviations online caused by track sideslip and hydraulic steering dead zone.Simulation results in Matlab/Simulink showed that,when tracking S-shaped and double-lane change paths,the proposed method reduced the maximum lateral deviation by 54.1%and 66.7%and the mean absolute deviation by 34.4%and 55.8%compared with that of the traditional pure pursuit algorithm,demonstrating superior tracking accuracy and anti-interference capability.Field tests conducted on a 1GLX-230 crawler self-propelled rotary tiller further verified its effectiveness:the average maximum lateral deviation across consecutive operation rows was 0.059 m,the average mean absolute deviation was 0.025 m,and 97.33%of the tracking deviations were controlled within the±0.05 m range.This method effectively enhanced the path tracking stability,inter-row alignment accuracy,and overall robustness of crawler tractors in the complex paddy field environment,meeting the requirements for automatic navigation operations in precision agriculture.关键词
履带拖拉机/路径跟踪/非线性/模糊补偿Key words
crawler tractors/path tracking/nonlinearity/fuzzy compensation分类
农业科技引用本文复制引用
何杰,贺子豪,陆炳辛,莫家骏,汪沛,徐梓涵,曾鸿禧,林涵,胡炼..基于转向非线性模糊补偿的水田履带拖拉机路径跟踪控制方法[J].农业机械学报,2026,57(12):99-110,12.基金项目
广东省基础与应用基础研究基金项目(2025A1515011012) （2025A1515011012）
