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Agricultural machine path tracking control method based on nerve network

A technology of agricultural machinery and neural network, applied in the field of navigation control, can solve the problems of inability to adjust control parameters, lack of self-adaptive ability, difficulty in accurately controlling automatic navigation and path tracking of farmland operation machinery, and achieve the effect of improving accuracy

Inactive Publication Date: 2007-11-28
SOUTH CHINA AGRI UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

The above-mentioned conventional methods lack the necessary self-adaptive ability, and cannot timely adjust the control parameters according to the feedback such as changes in the movement state of agricultural machinery and path tracking errors, so it is difficult to accurately control the automatic navigation and path tracking of farmland operation machinery.

Method used

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  • Agricultural machine path tracking control method based on nerve network
  • Agricultural machine path tracking control method based on nerve network
  • Agricultural machine path tracking control method based on nerve network

Examples

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Embodiment Construction

[0022] The present invention will be described in further detail below in conjunction with the examples, but the embodiments of the present invention are not limited thereto.

[0023] In this embodiment, the KUBATA SPU-60 rice transplanter is used as the test platform to carry out the path tracking control of agricultural machinery based on the neural network. The specific implementation steps are as follows:

[0024] (1) The navigation and positioning system is equipped on the rice transplanter, and the skilled driver drives the rice transplanter to walk along the trajectory shown in Figure 1 at different speeds in the paddy field. The navigation and positioning system samples, calculates and records the relative Lateral tracking error, longitudinal heading deviation, travel speed, and steering wheel steering angle from the intended route. The recording frequency is 1 Hz. The lateral tracking error, longitudinal heading deviation, traveling speed and steering wheel steering...

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Abstract

The invention discloses an agricultural machine path tracing controlled method based on nerve net, which comprises the following steps: adopting catalogue; exercising network; using network; finishing the method. This invention possesses self-adaptability, which can improve accuracy of track tracing effectively.

Description

technical field [0001] The invention relates to navigation control technology, in particular to a neural network-based agricultural machinery path tracking control method. Background technique [0002] Precise navigation is one of the key technologies to realize autonomous walking of agricultural machinery, and its navigation control algorithm directly affects the quality of automatic path tracking of agricultural machinery. There are three commonly used navigation control methods at home and abroad, namely linear model control method, optimal control method and fuzzy control method. The PID control method is commonly used for linear models. Once the PID control parameters are adjusted, they are fixed. Therefore, it is difficult to make online adjustments to the deviation changes of agricultural machinery and changes in motion characteristics (such as lateral slip, longitudinal slip, etc.), which will inevitably affect Navigation accuracy and stabil...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05B13/02
Inventor 罗锡文王坤张智刚周志艳
Owner SOUTH CHINA AGRI UNIV
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