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基于ISO 11783的拖拉機(jī)導(dǎo)航控制系統(tǒng)設(shè)計(jì)與試
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Navigation Control System for Tractor Based on ISO 11783
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    摘要:

    基于ISO 11783標(biāo)準(zhǔn)構(gòu)建了拖拉機(jī)自動(dòng)導(dǎo)航控制系統(tǒng)，系統(tǒng)包括5個(gè)電子控制單元（ECU）,，其中轉(zhuǎn)向ECU節(jié)點(diǎn)可以根據(jù)從總線上接收到的轉(zhuǎn)向指令來控制前輪轉(zhuǎn)向,。對自動(dòng)導(dǎo)航控制系統(tǒng)的網(wǎng)絡(luò)服務(wù)性能進(jìn)行了分析，并進(jìn)行了使用該系統(tǒng)的拖拉機(jī)直線路徑跟蹤試驗(yàn),。試驗(yàn)表明,，基于ISO 11783的拖拉機(jī)自動(dòng)導(dǎo)航控制系統(tǒng)能滿足實(shí)時(shí)性要求，并能較好地實(shí)現(xiàn)路線跟蹤,，直線跟蹤最大橫向偏差為

    Abstract:

    11cm,。 According to the specifications of ISO 11783 standard, an automatic navigation control system was built. In the system, there were five ECUs, and the hardware and software design of steering control ECU were described in detail. At last the network service performance of the navigation control system was analyzed, and line path experiments were finished with the designed navigation control system. Experiments indicated that tractor navigation control system can satisfy the need of real time and could realize line path tracking. The lateral error is less than 11cm tractor tracking line path at a speed of 1m/s.

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周建軍,鄭文剛,李素,張漫,紀(jì)朝鳳,孟志軍.基于ISO 11783的拖拉機(jī)導(dǎo)航控制系統(tǒng)設(shè)計(jì)與試[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2010,41(4):184-188. Navigation Control System for Tractor Based on ISO 11783[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(4):184-188.

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