Abstract
In order to realize the automatic driving of the machinery working in the paddy field, using the stepping motor as the driving power and taking 2ZG630A high speed rice transplanter as the study platform, the steering mechanism of the rice transplanter was improved in this study. The controller with the fuzzy immunity PID control algorithm was designed and applied in the navigation control system of the rice transplanter as well. The test result indicated that the course deviation can be controlled within 0.5° and 1.1° and its control can be realized in 4 and 6 sec separately when the rice transplanter was driven in the cement floor or the paddy field by the speed of 0.7 m/sec. It also indicated that the steering control system of rice transplanter based on fuzzy immunity PID can satisfy the automatic navigation request of the vehicles used in the agriculture.
Highlights
The vehicles’ steering control is the foundation of the agriculture machinery automatic navigation control
Simulation tracking control: The transfer function model of the steering driving mechanism and the rice transplanter’s kinematics model: Based on the basic composition principle of the steering driving mechanism, adjusting the stepping motor frequency f (s) was defined as the input, the steering angle of the actual steering wheel was taken as the output, the transfer function model of the steering driving mechanism can be obtained: Fig. 3: Simulink result of 5° step wave orientation ωl (s)
From the chart, when the running velocity of the rice transplanter was quick, the rising time reduced, which resulted in 4% overshoot
Summary
The vehicles’ steering control is the foundation of the agriculture machinery automatic navigation control. The two kind of common methods are the electro-hydraulic control and the motor control (Hu et al, 2009). Wu Xiaopeng from South of China Agricultural University took the Dongfanghong X804 tractor as the platform, realized the tractor’s automatic steering control by using the electro-hydraulic proportion hydraulic valve and with PID control algorithm (Wu and Zhao, 2009). The vehicle’s steering fuzzy controller was designed to realize the tractor’s automatic steering through all kinds of sensors to obtain the vehicles’ position (Lian and Chen, 2009)
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
