Abstract:Variable specific resistance of field soil and unevenness of the plot cause the tractor driving speed and traction resistance to fluctuate greatly under the ploughing condition, and the traditional unmanned tractor operation system is difficult to meet the agronomic requirements of path tracking accuracy and ploughing depth uniformity. The operation characteristics of unmanned electric tractor ploughing unit were systematically analyzed, and a fuzzy control strategy for tractor ploughing unit path tracking and ploughing depth was proposed, including the fuzzy Stanley path tracking control method and the predictive compensation variable-domain fuzzy PID ploughing depth control method, which took into account the ploughing depth and driving speed under the ploughing condition of the tractor with heavy loads, and improved the ploughing depth uniformity and the straightness of unmanned system of electro-hydraulic suspension. In order to verify the effectiveness of the proposed control strategy, a test platform for the ploughing unit of unmanned electric tractor was set up to carry out field path tracking and ploughing tests. The test results showed that the control strategy proposed can adapt to the complex and variable field environment, the maximum lateral deviation of the path tracking operation was no more than 0.042m, and the standard deviation of lateral deviation of ploughing operation was no more than 0.086m; the mean value of the driving speed remained stable, with an average absolute error of 0.16km/h and an average relative error of 4.38%;the mean value of the coefficient of variation of ploughing depth was 9.29%, which was 14.29% lower than that of the fuzzy PID algorithm. A control strategy proposed can enhance the ploughing depth uniformity and navigation linearity of tractor ploughing operation on the basis of different soil specific resistance, the degree of concavity and convexity of the plot, and the magnitude of traction resistance, with excellent adaptability and robustness to satisfy the agronomic requirements of tractor ploughing operation, which provided a reference for the implementation of the multiparameter control of the unmanned electric tractor.