Steering Control Strategy of Rocker-operated Agricultural Machinery

According to rocker control mode of small electric agricultural machinery, aiming at relationship between remote lever voltage, driving wheel speed and steering deflection angle of guide wheel, "voltage speed" model of remote lever voltage and driving wheel and "voltage steering" model of guide wheel were established．Based on principle of electronic differential speed and Ackermann & Jeantand model, relationship between voltage, speed and steering angle was discussed, wheel speed and steering angle of body were obtained, and then steering angle of steering wheel was obtained．Nonlinear fitting was used to establish "voltage-speed" and "voltage-steer" model．Adj R-square correction fitting results in "voltage-speed" model were 0.954 6 and 0.974 4, respectively, and Adj R-square correction fitting results in the "voltage-steer" model were 0.869 0．The model could realize real-time acquisition of wheel speed and body steering deflection angle of electric agricultural machinery in process of travel and steering, and move forward stably according to preset scheme．Electric agricultural machinery is current development direction of agricultural machinery and is of great significance to development of agriculture．