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In order to realize the automatic driving of the machinery working in the paddy field, using the stepping motor as the driving power and taking 2ZG630A high speed rice transplanter as the study platform, the steering mechanism of the rice transplanter was improved in this study. The controller with the fuzzy immunity PID control algorithm was designed and applied in the navigation control system of the rice transplanter as well. The test result indicated that the course deviation can be controlled within 0.5° and 1.1° and its control can be realized in 4 and 6 sec separately when the rice transplanter was driven in the cement floor or the paddy field by the speed of 0.7 m/sec. It also indicated that the steering control system of rice transplanter based on fuzzy immunity PID can satisfy the automatic navigation request of the vehicles used in the agriculture.

Research on the Steering Control System of Rice Transplanter based on Fuzzy Immunity PID