Abstract
This paper uses Tianjin TieNiu crawler tractor as the experimental platform to design an unmanned agricultural machinery control system based on RTK-GPS (Differential GPS Technology). The article expounds the overall design of the control system and proposes a path tracking control algorithm. Simulation and experimental results show that the control algorithm can complete the path tracking requirements of unmanned agricultural machinery. The system can control the unmanned agricultural machinery to follow a predetermined route. The speed is 0.55m/s, the maximum error of linear path tracking of agricultural machinery is 4.09cm, the average error is 2.20cm, the maximum error of large diameter circular path tracking is 20.67cm, the average error is 8.34cm, and the maximum error of continuous small diameter turning path tracking is 23.14cm, the average error is 7.38cm, both meet the operational requirements.
Highlights
Since the 1990s, developed countries in Europe and the United States have carried out research on the "precise agriculture" technology system
Li Yongjian et al.[4,5] designed an automatic navigation system based on RTK-DGPS positioning and double closed-loop steering control based on Dongfanghong X-804 tractor
This paper mainly introduces the overall structural design of unmanned agricultural machinery, which is divided into two parts: hardware design and software design
Summary
Since the 1990s, developed countries in Europe and the United States have carried out research on the "precise agriculture" technology system. Realizing the intelligent navigation of agricultural machinery can effectively improve the accuracy of field operations. Kim et al.[2] established a dynamic model of agricultural machinery and TCP/IP communication protocol, developed a path tracking simulator and used the Tongyang TX803 tractor equipped with RTK-GPS receiver and steering controller for driving test. Shi Yangjie et al.[6] proposed the GNSS/INS/vehicle integrated navigation method, which effectively reduced the accuracy requirements of the inertial measurement unit, and the agricultural. The automatic control system based on RTK-GPS and electronically controlled hydraulic steering was developed on Tianjin Tieniu crawler tractor to realize high-precision steering control of unmanned agricultural machinery, reduce control overshoot and improve the navigation precision of agricultural machinery in the field. After experimental verification, when the speed is 0.55m/s, the maximum error of linear path tracking of agricultural machinery is 4.09cm, the average error is 2.20cm, the maximum error of large diameter circular path tracking is 20.67cm, the average error is 8.34cm, continuous small diameter turning The path tracking maximum error is 23.14cm, and the average error is 7.38cm, which meets the operation requirements
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