Design and Experiment of Autonomous Driving Control System for Transplanter
In order to meet the needs of automatic operation of rice transplanter and improve the path tracking accuracy and operation effect of rice transplanter,the automatic driving control system of rice transplanter was designed.Taking the electronically modified Jiufu 2ZG-6D(G6)rice transplanter as the research platform,based on Beidou/GNSS positio-ning,a path tracking model of rice transplanter was established,and an improved fuzzy PID control algorithm for variable domain was proposed,which combined simulation and real vehicle field test to verify the performance of the control sys-tem.In the simulation experiment,the absolute value of lateral deviation in the process of path tracking of the transplanter was always controlled within 0.03 m;during the field test,the absolute value of the transverse deviation was controlled within 0.05 m,and the average value of positive and negative transverse deviation was 0.031 m and 0.034 m.The test results showed that the linear tracking accuracy of the transplanter was high,and the designed control system met the needs of the transplanting operation.
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