Design and experiment of moving along ridge control system for tobacco picking machine

For the realization of the tobacco leaf picking machine in unmanned, a ridge moving control system of tobacco picking machine is designed, this system adopts photoelectric ranging sensor detecting the distance of both sides of the wheels to the tobacco ridge.In this paper, the sensitivity, smoothness and phase delay of a first order lag low-pass filter are analyzed, filtering control parameters are corrected.This paper expects to achieve a better fitting effect, and eliminate weeds, blocks and other invalid sharp signals accurately, and finally, adjust the motor speed of power system according to the optimized data, realize the ridge moving of tobacco picking machine.The simulation results show that after dynamic correction, both in terms of sensitivity and smoothness, the effect of the first order lag low-pass filtering is very good, and the phase lag has been significantly modified.The field test shows that, after filtering the data standard deviation is 3.8, it can get accurate ridge information.When deviation angle less than 30°, angle correction is better, the success rate was 95%, and lateral shift correction success rate is 89%, When deviation angle is less than 20°, the success rate was 95%, and lateral shift correction success rate is 98.3%.The moving control system can accurately control the tobacco picking machine moving along the ridge, providing moving control method for unmanned tobacco picking machine.