【摘要】：我國作為人口大國,農(nóng)業(yè)發(fā)展對國家至關重要。傳統(tǒng)型農(nóng)機作業(yè)效率低,勞動力成本高,因此,發(fā)展現(xiàn)代化農(nóng)業(yè)對我國來說已成為必然趨勢。農(nóng)機自動導航駕駛技術(shù)作為現(xiàn)代化農(nóng)業(yè)中不可或缺的一部分,可以有效提高土地利用率,降低駕駛員疲勞程度。農(nóng)機自動導航首先要實現(xiàn)拖拉機的自動液壓轉(zhuǎn)向控制。本文以福田雷沃M1104-D拖拉機為實驗平臺,結(jié)合其液壓轉(zhuǎn)向特點以及自動轉(zhuǎn)向控制的工作要求,設計了一套拖拉機自動駕駛液壓轉(zhuǎn)向控制系統(tǒng),實現(xiàn)拖拉機按規(guī)劃路徑自動行駛。結(jié)合福田雷沃M1104-D拖拉機的結(jié)構(gòu)特點和性能參數(shù)確定液壓轉(zhuǎn)向控制的改造方案,并根據(jù)改造方案選擇合理的液壓改造元件;在確定改造系統(tǒng)硬件的基礎上選擇功能齊全的控制器,實現(xiàn)各部件間的信息傳遞。利用SimHydraulics工具箱對液壓改造系統(tǒng)進行仿真測試,檢驗改造系統(tǒng)的可行性與可靠性。該改造系統(tǒng)在不同狀況下均可有效完成自動轉(zhuǎn)向指令。根據(jù)拖拉機按規(guī)劃路徑自動行駛的要求,提出路徑跟蹤控制算法,并對所提出的幾何跟蹤算法進行仿真分析。由分析結(jié)果得出,幾何跟蹤算法可實現(xiàn)拖拉機的自動路徑跟蹤控制,控制效果較好。液壓仿真結(jié)果表明,應用帶死區(qū)PD算法的閉環(huán)液壓系統(tǒng)穩(wěn)定性較高,系統(tǒng)響應性較好。運用幾何跟蹤算法,在航向角偏差15°,初始橫向偏差0.2m,幾何跟蹤距離2.5m時,車輛在3s左右回到ab線,滿足車輛路徑跟蹤要求。
[Abstract]:China as a large population, agricultural development is of great importance to the country. Traditional agricultural machinery has low efficiency and high labor cost. Therefore, the development of modern agriculture has become an inevitable trend in China. As an indispensable part of modern agriculture, automatic navigation and driving technology of agricultural machinery can effectively improve land use efficiency and reduce driver fatigue. First of all, the automatic hydraulic steering control of the tractor should be realized in the automatic navigation of agricultural machinery. Based on Futian Revo M1104-D tractor, a hydraulic steering control system for tractor self-driving is designed in this paper, based on its hydraulic steering characteristics and the requirements of automatic steering control. The tractor runs automatically according to the planned path. According to the structural characteristics and performance parameters of Futian Revo M1104-D tractor, the revamping scheme of hydraulic steering control is determined, and a reasonable hydraulic revamping element is selected according to the revamping scheme. On the basis of determining the hardware of the reformed system, the controller with complete functions is selected to realize the information transmission between the components. The SimHydraulics toolbox is used to simulate and test the hydraulic revamping system, and the feasibility and reliability of the revamping system are verified. The modification system can effectively complete the automatic steering instruction under different conditions. According to the requirements of the tractor running automatically according to the planned path, a path tracking control algorithm is proposed, and the simulation analysis of the proposed geometric tracking algorithm is carried out. From the analysis results, it is concluded that the geometric tracking algorithm can realize the automatic path tracking control of tractor, and the control effect is better. The hydraulic simulation results show that the closed-loop hydraulic system with dead-time PD algorithm is more stable and the system response is better. With geometric tracking algorithm, when the heading angle deviation is 15 擄, the initial transverse deviation is 0.2 m, and the geometric tracking distance is 2.5 m, the vehicle returns to the ab line at about 3 s to meet the requirements of vehicle path tracking.
【學位授予單位】：武漢輕工大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：S219.03

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本文編號：2422974