DESIGN AND PERFORMANCE TEST OF REMOTE DRIVING CONTROL SYSTEM OF SMALL AGRICULTURAL HYDRAULIC CHASSIS

被引：0

作者：

Lu, Xiaorong ^{[1
]}

Fu, Yuan ^{[1
]}

Cheng, Xinping ^{[2
]}

Zhang, Fugui ^{[1
]}

Len, Yuancai ^{[1
]}

Han, Dandan ^{[1
]}

机构：

[1] Sichuan Agr Univ, Coll Machinery & Elect, Yaan 625014, Sichuan, Peoples R China

[2] Chengdu Wenjiang Sci & Technol Ind Dev Pk, Chengdu 611130, Sichuan, Peoples R China

来源：

INMATEH-AGRICULTURAL ENGINEERING | 2024年 / 72卷 / 01期

关键词：

Agricultural chassis; Remote control; Mathematical model; System design; Test; VEHICLES;

D O I：

10.35633/inmateh-72-24

中图分类号：

S2 [农业工程];

学科分类号：

0828 ;

摘要：

Aiming at the adaptability and safety problems of agricultural machinery in hilly and mountainous areas, the remote driving control system of agricultural full hydraulic chassis is designed based on ARM-Linux platform. The whole remote driving system is composed of Web upper computer, server system and chassis drive system. According to the requirements of chassis operation, the STM32F407 is used as the lower computer to realize the running control and motion status monitoring of the chassis. Taking the I.MX6ULL as the hardware platform, the Linux as the software platform, and 4G communications as the Web Server, the remote driving of the chassis is realized through Web pages on the computer. It can be seen from the test results that the minimum RTT delay from the Web page driving to the lower computer is 170 ms; the maximum RTT delay is 1310 ms, and the average RTT delay is 222.75 ms. The real-time interactivity of the control system meets the needs of remote driving of the agricultural machinery. The research provides a theoretical basis and technical reference for the development of the remote driving system of the agricultural machinery.

引用

页码：255 / 264

页数：10

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