The invention discloses a transplanter control system and a straight driving control method, and belongs to the technical field of agricultural machinery navigation, the control system comprises a parameter collection module, a parameter processing module, a controller and an automatic aligning module, and the control method comprises the following steps: through the parameter collection module, obtaining a relative rotation angle delta alpha of a steering column, a transplanter driving speed V and a transverse acceleration a; determining a steering wheel correction rotation angle beta and a steering wheel correction transfer deviation delta beta according to the relative rotation angle of the steering column, the driving speed of the transplanter and the transverse acceleration, calculating to obtain the current rotation angle theta of the steering wheel, and calculating to obtain the position state of the transplanter in the inertial coordinate system according to the controller; finally, whether the transplanter is in a linear driving state or not is judged according to the current turning angle theta of the steering wheel and the position state of the transplanter in the inertial coordinate system, an automatic aligning module automatically controls the steering wheel to be aligned, and the transplanter is made to run linearly.
一种移栽机控制系统及直线行驶控制方法,属于农机导航技术领域,控制系统包括参数收集模块、参数处理模块、控制器和自动回正模块,控制方法则是通过参数收集模块,获得转向柱的相对转角Δα,移栽机行驶速度V,横向加速度a;根据转向柱的相对转角、移栽机行驶速度、横向加速度确定方向盘修正转角β和方向盘修正转交偏差Δβ,通过计算得到当前方向盘的转角θ,根据控制器计算得到移栽机在惯性坐标系的位置状态;最后结合当前方向盘的转角θ和移栽机在惯性坐标系的位置状态判断当前移栽机是否处于直线行驶状态,自动回正模块自动控制方向盘回正,使移栽机直线行驶。
Transplanter control system and straight driving control method
一种移栽机控制系统及直线行驶控制方法
2024-07-23
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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