四轮滑动转向移栽机底盘路径跟踪控制方法研究OA

Aiming at the problems of low tracking accuracy,insufficient load capacity,and slippage in the field during the path tracking process of the existing transplanter chassis,the Skid-Steering Planter Chassis(SSPC)was used as the test platform to carry out the path tracking control algorithm suitable for SSPC.By constructing the kinematic model of SSPC,a pure tracking algorithm suitable for SSPC was proposed.The lateral deviation and heading deviation were used as in-puts,and the deviation correction of the transplanter chassis during the ridge patrol process was realized by controlling the speed of the chassis drive wheel.In addition,the correction speed system and the fuzzy controller were integrated to fur-ther optimize the tracking accuracy of the pure tracking algorithm,and the lateral deviation and heading deviation were used as constraints to dynamically adjust the chassis speed and forward-looking distance.The accuracy of the algorithm was evaluated through simulation experiments,and the results showed that compared with the traditional algorithm,the al-gorithm could reduce the mean absolute value of lateral error by 46%-50%.The path tracking test was carried out on the transplanting chassis,and the mean value of the lateral error in the three ridge line model scenarios was less than 0.05 m.Finally,the chassis was used to patrol the ridge at three initial speeds on the ridge that met the requirements of the actual transplanting operation.The average lateral deviation of the chassis was stable within 0.04 m,which verified the effectiveness of the algorithm,indicating that the chassis could meet the accuracy requirements of the transplanting ma-chine.