The invention discloses an agricultural machine, a steering control method and device thereof and a medium, and belongs to the technical field of agricultural machines. The method comprises the following steps: estimating an ideal yaw velocity and an ideal side slip angle of the agricultural machine; the actual yaw velocity and the actual side slip angle of the agricultural machine are obtained; based on a first difference value between the ideal yaw velocity and the actual yaw velocity and a second difference value between the ideal side slip angle and the actual side slip angle, executing a feedback control algorithm to determine a compensation yaw moment of the agricultural machine; and based on the compensation yawing moment, adapting to the current steering working condition and carrying out rear wheel torque optimal distribution for the agricultural machinery. Smooth and stable walking and steering can be achieved, and the problem that the agricultural machine slips due to unreasonable drive torque distribution under the working condition that the adhesive force is very low is solved.

    本申请公开了一种农用机械及其转向控制方法、装置和介质,属于农机技术领域。所述方法包括:估算农用机械的理想横摆角速度和理想质心侧偏角;获取农用机械的实际横摆角速度和实际质心侧偏角;基于所述理想横摆角速度与所述实际横摆角速度之间的第一差值以及所述理想质心侧偏角和所述实际质心侧偏角之间的第二差值,执行反馈控制算法以确定所述农用机械的补偿横摆力矩;以及基于所述补偿横摆力矩,适应于当前转向工况而进行针对所述农用机械的后轮扭矩优化分配。本申请能够实现平滑、稳定的行走和转向,解决了农用机械在附着力非常低的工况下因驱动扭矩分配不合理而导致的打滑问题。


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    Title :

    Agricultural machine, steering control method and device thereof and medium


    Additional title:

    农用机械及其转向控制方法、装置和介质


    Contributors:
    WU AO (author) / ZHAO SONGPEI (author) / YU JUN (author) / JI CHENGTAO (author)

    Publication date :

    2025-01-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / B62D MOTOR VEHICLES , Motorfahrzeuge



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