摘要
Abstract
In order to improve the automation level of rice transplanters,this paper takes rice transplanters as the re-search object,carries out structural modification of automatic steering system,hardware design of controller,analysis of steering system model,and design of fuzzy PID control algorithm.A PLC based automatic steering control system for rice transplanters is constructed.Real time position information of the rice transplanter is obtained through sensors,and the PLC control system performs calculations based on control algorithms and outputs corresponding control signals.The steering angle of the rice transplanter is adjusted through the driving device.The results of the in-situ turning test indi-cate that the adjustment time from 0° to 10° is 0.9 seconds,and the maximum steady-state error is 0.7°;The adjust-ment time from-20° to 20° is 3.1 seconds,with a steady-state error of 1.1°,which can meet the operational require-ments of rice transplanters.The path tracking test results show that the response time of the rice transplanter in linear tracking is0.42 seconds,with a maximum error of 3.09 ° and a maximum average error of 0.62°.The research results can provide reference for the design of unmanned driving control systems for rice transplanters.关键词
水稻插秧机/自动转向/PLC控制系统/模糊PID/路径跟踪Key words
rice transplanter/automatic steering/PLC control system/fuzzy PID/path tracking分类
农业科技
