摘要
以拖拉机精准作业导航控制为研究对象,利用集成电路技术对拖拉机导航控制系统进行设计,将拖拉机导航控制终端、转向控制器以及作业提升机构之间的通讯数据通过CAN总线集成电路进行连接,分别设计拖拉机精准作业导航控制系统硬件电路和控制系统通讯软件。为验证CAN总线集成电路在拖拉机导航控制终端与导航控制器之间的通讯有效性,在农田环境内进行导航路径规划验证,结果表明:导航控制系统实际运行轨迹X方向与理论路径偏差值为1m,Y方向产生2m偏差;拖拉机实际运行距离为99.02m,与理论规划路径总偏差值为0.98m,运行距离误差比例为0.98%,运行方向偏差1.16°。
Taking the precise operation navigation control of agricultural tractor as the research object,this paper designs the navigation control system of agricultural tractor by using integrated circuit technology,and connects the communication data between tractor navigation control terminal,steering controller and operation lifting mechanism through CAN bus integrated circuit,The hardware circuit and communication software of agricultural tractor precision operation navigation control system are designed respectively.In order to verify the communication effectiveness of the CAN bus integrated circuit between the tractor navigation control terminal and the navigation controller,the navigation path planning verification is carried out in the farmland environment.The results show that the deviation between the actual running track of the navigation control system in X direction and the theoretical path is 1m,the deviation in Y direction is 2m,and the actual running distance of the tractor is 99.02m,The total deviation from the theoretical planning path is 0.98M,the error proportion of running distance is 0.98%,and the deviation of running direction is 1.16°.
作者
张萃珍
王娟
Zhang Cuizhen;Wang Juan(Jiangxi Electromechanical Vocational and Technical College,Nanchang 330013,China)
出处
《农机化研究》
北大核心
2024年第4期265-268,共4页
Journal of Agricultural Mechanization Research
基金
江西省教育厅科学技术研究项目(GJJ191296)。
关键词
拖拉机
转向控制器
集成电路
控制终端
tractor
steering controller
integrated circuit
control terminal
