In order to realize the path tracking control of agricultural tractors in field operations in complex environments, this paper designs an automatic driving system based on the Luzhong 500A tractor, and studies the path tracking. The tractor automatic driving system consists of a steering module, a shift module and a pedal module. Based on the simplified dynamic model, this paper uses improved LQR controller to achieve path tracking control and carries out Carsim/Simulink joint simulation and field tests. The field test results show that the tractor can achieve autonomous driving, and the simulation results show that the controller can achieve path tracking.
In recent years, deep loosening, rotary tillage, fertilization and other land tillage methods have been vigorously promoted in major crop production areas. Rotary tiller is a kind of tillage appliance which is driven by tractor and rotates the rotary tiller to break up soil and bury straw. During the operation, chemical fertilizers and pesticides can be evenly mixed in the soil and straw can be mixed in the whole tillage layer. The better the mixing of straw and soil, the larger the contact area between straw and soil will not only improve the metabolism of microorganisms in soil, but also improve the decomposition rate of straw. When people study the condition of straw in soil, because the covering condition of straw in soil after rotary tillage is not easy to be observed in the actual working soil, simulation analysis is carried out by EDEM2020 on the way of straw soil mixed into the field. After treatment with EDEM2020, the percentage of surface straw in the total quantity is counted and the percentage of straw mixed into the soil is taken as the evaluation index.
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