关键词: 高地隙植保机, 油门自动控制, 发动机转速, 角度传感器

Abstract: In view of the throttle automatic control requirements of the agricultural unmanned driving system for the highclearance spraying machine,  the throttle automatic control system with the DC motor as the power source is developed,  mainly including the throttle controller,  DC gear motor,  motor driver,  angle sensor,  and pulling wheel. The throttle controller reads the output value of the angle sensor,  compares it to the throttle command on the CAN bus,  and sends a control signal to the motor driver to control the forward and reverse of the geared motor,  thereby driving the pulley to rotate to the target position. According to the throttle action principle of the high gap plant protection machine engine,  the overall structure design of the automatic throttle device is carried out,  the DC motor and angle sensor are selected,  and the assembly and debugging of the automatic throttle device are completed by processing and manufacturing parts. The experimental results show that in the range of ［0°,  70°］,  the relative error of angle shall not exceed 4%. The maximum engine speed error of the developed throttle automatic control system occurs at 19.8 r/min when the rotation angle of the puller is 65°. The minimum value of the engine speed error occurs at 10 r/min when the rotation angle is 50°.  The minimum standard deviation and the maximum standard deviation occur at 50° and 55°,  and 303 r/min and 633 r/min, respectively. The relative standard deviation is less than or equal to 0.55%. The throttle automatic control device developed in this paper has good control stability and reliability,  which can meet the basic requirements of agricultural unmanned driving system for throttle control.

Key words: highclearance spraying machine, automatic throttle control, engine speed, angle sensor