CN107992049B - Modularized automatic driving control device of rice direct seeding machine and control method thereof - Google Patents
Modularized automatic driving control device of rice direct seeding machine and control method thereof Download PDFInfo
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- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 72
- 235000009566 rice Nutrition 0.000 title claims abstract description 72
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 240000007594 Oryza sativa Species 0.000 title 1
- 241000209094 Oryza Species 0.000 claims abstract description 71
- 238000004891 communication Methods 0.000 claims abstract description 54
- 238000009331 sowing Methods 0.000 claims abstract description 33
- 238000007726 management method Methods 0.000 claims description 37
- 238000012544 monitoring process Methods 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 10
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- 230000007935 neutral effect Effects 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
Abstract
A modular automatic driving control device of a rice direct seeding machine and a control method thereof comprise the following steps: the system comprises an operation management terminal system, a navigation positioning system, a main control system, a wireless communication management system, a steering control and execution system, a speed control and execution system and a gear control and execution system. The device is convenient for users to flexibly select and use according to actual conditions, can enable the paddy planter to automatically generate a walking path in a complex paddy field environment without inputting the size of a sowing land, and provides centimeter-level accurate automatic driving and autonomous operation according to preset track straight lines, curves, turns, advancing and retreating. The rice direct seeding machine can automatically walk, turn and operate in complex paddy field environments with different terrains and landforms within 24 hours.
Description
Technical Field
The invention relates to a technology in the field of agricultural machinery, in particular to a modular automatic driving control device of a rice direct sowing machine and a control method thereof.
Background
The direct seeding machine for paddy rice has been accepted by more and more farmers due to the advantages of labor and cost saving. However, the original rice direct seeding machine is still in a manual operation mode, at least one person is needed to complete the driving of the rice direct seeding machine, the automation degree is not high, and unmanned driving cannot be realized. The driver of the rice direct seeding machine needs to overcome the severe field environment such as high temperature sunshine, the seeding quality is influenced by the experience of the driver, the efficiency is low, and the agricultural modernization, the unmanned and the intellectualization are not facilitated. Meanwhile, the method is improved and opened, farmers enter a great deal of cities, and rural areas generally encounter the embarrassment situations of labor loss and aging. Therefore, the rice seeding is a development trend of the rice planting industry without humanization.
Disclosure of Invention
The invention provides a modular automatic driving control device of a rice direct sowing machine and a control method thereof, aiming at the defects that the existing unmanned agricultural machine has poor self-adaptive capacity and can realize unmanned driving only by presetting a plurality of parameters or providing data by an unmanned aerial vehicle. The rice direct seeding machine can automatically walk, turn and operate in complex paddy field environments with different terrains and landforms within 24 hours.
The invention is realized by the following technical scheme:
the invention relates to a modular automatic driving control device of a rice direct sowing machine, which comprises: operation management terminal system, navigation positioning system, main control system, wireless communication management system, turn to control and execution system, speed control and execution system and gear control and execution system, wherein: the operation management terminal system outputs planning path operation information to the main control system through the wireless communication management system and receives running state information, the navigation positioning system outputs orientation information of the rice direct seeding machine to the main control system, and the main control system receives steering wheel angles, throttle positions and gear shifting lever positions from the steering control and execution system, the speed control and execution system and the gear control and execution system respectively and outputs steering control quantity, speed control quantity and gear control quantity.
The job management terminal system includes: operation monitoring module, route planning module and by the data communication module that server remote communication unit and master controller wireless communication unit constitute, wherein: the operation monitoring module receives operation condition real-time monitoring information of a main controller wireless communication unit from the data communication module, the path planning module receives position information of an operation land block from the main controller wireless communication unit and operation GIS information from the server remote communication module, and an operation path is generated and sent to the main controller through the main controller wireless communication unit; the path planning module is used for manually setting an operation path and sending the operation path to the main control system through the main controller wireless communication unit.
The China Beidou satellite navigation system of the navigation positioning system uses RTK differential global positioning for measuring the centimeter-level accurate position of the rice direct seeding machine body, and sends position information to the main control system for analysis and processing so as to control the rice direct seeding machine to walk or turn.
The main control system comprises: the main processing unit and two RS232 interfaces, SD card data storage interfaces that are used for receiving big dipper navigation positioning information and data communication respectively that link to each other respectively with it and be used for the CAN bus interface to each action execution unit's control and position gesture detection, wherein: the two RS232 interfaces, the SD card data storage interface and the CAN bus interface exchange and communicate data with the main processing unit through an internal data bus; the main processing unit analyzes the position information provided by the Beidou navigation system, the path information provided by the path planning system, the information of the corner sensor and the vehicle body inclination angle sensor into control information for controlling the movement of the steering control and execution system, the speed control and execution system and the gear control and execution system, and realizes the automatic walking, steering, obstacle avoidance and operation of the rice direct seeding machine.
The wireless communication management system comprises: RS232 interface, wireless data radio station group, bluetooth communication module. And the operation data wireless data transmission radio station module and the Bluetooth communication module are sent to the operation management terminal through the RS232 interface connection with the second RS232 interface of the main control system.
The steering control and execution system comprises: wheel corner sensor, automobile body attitude sensor, CAN bus step motor driver, speed reduction step motor, synchronous belt drive system, spline formula steering wheel motion transmission system, wherein: the wheel corner sensor for detecting the wheel corner is arranged at a wheel shaft and outputs a corner feedback signal to the main control system through the CAN bus, the vehicle body attitude sensor for detecting the vehicle body roll angle is arranged on the vehicle body and outputs a vehicle body attitude feedback signal to the main control system through the CAN bus, and the CAN bus stepping motor driver receives a steering system action signal from the main control system and drives the deceleration stepping motor to drive the spline type steering wheel motion transmission system to rotate, so that the steering control and track tracking of the rice direct seeding machine and high path tracking precision are realized.
The vehicle body attitude sensor is a two-axis tilt angle sensor.
The speed control and execution system comprises: speed controller and the first electric putter and the accelerator pedal connector that have position feedback that link to each other respectively with it, wherein: first electric putter sets up on the automobile body and its stretch out the end and be connected with accelerator pedal through accelerator pedal connector, speed controller receives live broadcast machine speed command signal that main control system sent through the CAN bus, convert current speed command into the electric putter displacement, and gather first electric putter's current position in real time, realize the high accuracy control to first electric putter given position through closed loop feedback, speed controller exports pedal control command to accelerator pedal connector in addition with control accelerator pedal position, realize the autonomous control of live broadcast machine speed of marcing.
The gear control and execution system comprises: position controller and the second electric putter and the gear shift fork connector that have position feedback that link to each other with it respectively, wherein: second electric putter is articulated in order to carry out gear automatic control with gear handle lever, be in neutral position draw-in groove internal fixation when the gear handle, second electric putter stretches out the end and links to each other with gear shift fork connector, position controller receives the live broadcast machine gear command signal that main control system sent through the CAN bus, convert current speed instruction into the electric putter displacement, and gather first electric putter's current position in real time, realize the high accuracy control of first electric putter given position through closed loop feedback, position controller exports in addition shift instruction to gear shift fork connector in order to control gear shift fork position, realize the gear control of live broadcast machine operation.
And the speed control and execution system and the gear control and execution system are respectively provided with a CAN bus transceiver for receiving signals of the main control system.
Technical effects
Compared with the prior art, the scheme of the invention is clear, the transformation based on the traditional rice direct seeding machine is convenient, and the cost is greatly reduced; the automatic walking and steering can be realized in a complex paddy field environment, and the automatic walking and steering device is suitable for a paddy planter; the communication mode is mainly CAN communication with reliable performance and easy use, so that real-time communication among all modules CAN be well realized, and the real-time performance and the reliability of a control algorithm are ensured; the control algorithm is efficient and reliable, and centimeter-level tracking accuracy can be realized; the position and the motion parameters of the rice direct sowing machine can be displayed on a visual terminal of a user in real time, and the rice direct sowing machine is more humanized.
Drawings
FIG. 1 is a schematic view of an automatic driving control device of a rice direct sowing machine according to the present invention;
FIG. 2 is a schematic diagram of a speed control and execution system according to the present invention;
FIG. 3 is a schematic diagram of a steering control and execution system according to the present invention;
FIG. 4 is a schematic diagram of a shift control and actuation system according to the present invention;
FIG. 5 is a schematic diagram of a job management terminal system according to the present invention;
fig. 6 is a diagram of a wireless communication management system according to the present invention.
Detailed Description
As shown in fig. 1, the rice fighting autopilot control device according to the present embodiment includes: operation management terminal system 1, navigation positioning system 2, wireless communication management system 4, main control system 5, CAN transceiver 3, steering control and execution system 7, speed control and execution system 8 and gear control and execution system 9, wherein: the operation management terminal system 1 acquires the position information of the operation land and the operation GIS information and generates an operation path; or planning the operation path according to the information such as the operation land parcel input by the user; an operation path generated by planning of the operation management terminal system 1 is sent to a main control system 5 through a wireless communication management system 4 and receives rice direct sowing machine operation state information sent by the main control system for monitoring by a user, a navigation positioning system 2 for measuring centimeter-level accurate positions of a rice direct sowing machine body is a Chinese Beidou navigation system, the position information is output to the main control system through a CAN bus to be analyzed and processed so as to control the rice direct sowing machine to walk or turn, a steering control and execution system 7 receives steering control messages sent by the main control system 5 through the CAN bus, analyzes the messages, fuses vehicle body posture information, wheel turning angle and other information, obtains control quantity of a stepping motor through analysis and processing, sends the control quantity to a stepping motor driver through a CAN transceiver, controls a steering wheel 706 to rotate, and realizes accurate steering; the speed control and execution system 8 receives a speed control message sent by the main control system 5 through a CAN bus, calculates the position of the throttle and the displacement of the electric push rod, drives the electric push rod to move through an electric push rod driver, adjusts the position of the throttle and realizes speed control; the gear control and execution system 9 receives a control message sent by the main control system 5 through the CAN bus, and adjusts the gear of the gear shifting deflector rod to realize forward, reverse and neutral adjustment.
Preferably, the CAN transceiver uses the TJA1050T transceiver module of NXP.
As shown in fig. 2, the speed control and execution system 8 includes: velocity control controller 801, an ADC module 802, electric putter driver 803 and electric putter with position feedback 804, wherein: the electric push rod is connected with the accelerator pedal 805 through an accelerator pedal connector 807, and when the electric push rod moves forwards, the accelerator pedal 805 is pulled to press downwards, so that the rice direct seeding machine is accelerated; when the electric push rod retreats, under the action of the spring 806, the accelerator pedal 805 ascends, the rice direct sowing machine decelerates, the main control system 5 calculates the due speed of the rice direct sowing machine according to the direction and the planned path of the rice direct sowing machine in a land, and then sends a CAN message of speed control to the speed controller 801 of the speed control and execution system 8, after the speed controller 801 calculates the electric push rod displacement, the position feedback of the electric push rod 804, namely the accelerator position, is measured in real time according to the ADC, the advancing and retreating of the push rod are realized through the closed-loop control driver, so that the accelerator is driven to press down or ascend until the appointed accelerator position is reached, the speed of the rice direct sowing machine is controlled, and the rice direct sowing machine automatically walks.
Preferably, the speed control and execution system master 801 uses STM8S208S6T6C of the STM.
As shown in fig. 3, the steering control and execution system 7 includes: steering wheel actuation system master 701, stepper motor 704 with encoder 702, stepper motor driver 703, synchronous belt 705, spline steering wheel motion transfer system 706, two-axis tilt sensor, wheel angle sensor 708, and CAN transceiver 710, where: the main control system 5 calculates the proper wheel rotation angle of the rice direct seeding machine according to the direction and the planned path of the rice direct seeding machine in the plot, sends a CAN message of steering control to a steering controller 701 of a speed control and execution system 7, a two-axis inclination angle sensor 707 is fixedly connected with a rice direct seeding machine body 709, the posture of the body is measured in real time, the body is sent to the steering controller 701 through a CAN bus, a wheel rotation angle sensor 708 is installed at the position of a steering wheel shaft, the wheel rotation angle is measured in real time and sent to the steering controller 701 through the CAN bus, the steering controller fuses and processes the rotation angle of a stepping motor fed back by an encoder 702, the posture of the body fed back by the two-axis inclination angle sensor 707 and the wheel rotation angle fed back by the wheel rotation angle sensor 708, calculates the proper rotation angle and rotation speed of the stepping motor, controls the rotation speed 703 and the angle of the stepping motor, thereby controlling the rotation angle and the rotation speed of the steering wheel and realizing automatic turning.
As shown in fig. 4, the gear control and execution system 9 includes: steering wheel actuating system master control 901, an ADC module 902, electric putter driver 903 and the electric putter 904 of taking position feedback, gear shift fork connector 906, gearbox connecting rod 907 and the driving lever 905 of shifting, the driving lever 905 of shifting has 3 gears: the forward gear, the neutral gear and the reverse gear are provided with corresponding gear clamping grooves at each gear, and after the gears move to a specific gear position, the gear shifting rod 905 can be automatically clamped by the clamping groove, the tail end of the electric push rod 904 is fixedly connected with the gear shifting fork connector 906, the gear shifting fork connector 906 and the gearbox connecting rod 907 are both hinged with the gear shifting rod 905, the tail end of the gearbox connecting rod 907 is connected with a gearbox of a rice direct seeding machine, the main control system 5 judges whether the rice direct sowing machine needs to go forward or back according to the direction and the planned path of the rice direct sowing machine in the plot, the CAN message of the gear control is sent to the shift execution system main control 901, and after the main control module 901 analyzes the target gear, according to the push rod position feedback measured by the ADC, the closed-loop control electric push rod driver 903 drives the electric push rod 904 to move, the gear shifting driving rod 905 is driven to rotate to a specified gear clamping groove to be clamped, and the gear shifting driving rod 905 drives the gearbox connecting rod 907 to realize gear shifting.
Preferably, the gear control and execution system main control 801 uses STM8S208S6T6C of the STM.
As shown in fig. 5, the job management terminal system 1 includes: user monitoring module 101, route planning module 102, data communication module 103 includes: a server remote communication unit 104 and a master wireless communication unit 105, so that the work management terminal system 1 can communicate with a cloud server storing work parcel information and a master control system 5, wherein: the main control system 5 communicates with the operation management terminal system 1 through the wireless communication management system 4 and the main controller wireless communication unit 105, sends the operation condition of the rice direct sowing machine, and is monitored by a user through the operation monitoring module 101; the path planning module 102 can acquire position information of the operation land parcel through the master controller wireless communication unit 105, acquire operation GIS information from the cloud server through the server remote communication module 104, generate an operation path, and send the operation path to the main control system 5 through the master controller wireless communication unit 105 and the wireless communication management system 4 to automatically drive; meanwhile, the operation monitoring module 101 can also be used for manually setting the land parcel information and the relevant parameters required by the operation path, and after the operation path is planned by the path planning module 102, the operation path is sent to the main control system 5 through the main controller wireless communication unit 105 and the wireless communication management system.
As shown in fig. 6, the wireless communication management system 4 includes: the wireless communication management system 4 is connected with a second RS232 interface of the main control system through the RS232 interface 401, and sends the operation data provided by the main control system to the operation management terminal system 1 through the Bluetooth communication module 402 and the wireless data transmission radio module 403.
Preferably, the bluetooth communication module of the wireless communication management system 4 uses a CC2541 module of TI.
The embodiment relates to a control method of the automatic driving device of the rice direct seeding machine, which specifically comprises the following steps:
And 2, driving the rice direct seeding machine to the starting point of the operation land, and starting an automatic driving mode through the operation management terminal system 1.
And 3, combining the latitude and the azimuth of the rice direct sowing machine provided by the Beidou navigation and positioning system 2, converting the latitude and the azimuth into coordinates in a coordinate system of an operation land block through a coordinate conversion algorithm by the main control system 5, and combining a pre-planned operation path to execute straight movement, steering and operation until the completion.
In step 1, the path planning module 102 plans the headland turning path by using an Ω -shaped path planning algorithm, and the path of the working area outside the headland uses a straight path planning algorithm. The operation plot information required by the path planning module 102 can be obtained by acquiring the GIS information provided by the cloud server through the server remote communication unit, or can be obtained by inputting by the user of the operation monitoring module 101.
In step 3, the main control system 5 compares the orientation information of the rice direct sowing machine obtained by the Beidou navigation and positioning system 2 with the stored operation path data, and judges whether steering is needed. In the straight-going path section, when the direction of the rice direct seeding machine and the operation path have transverse deviation or course angle deviation and exceed the precision requirement, the steering control and execution system 7 is controlled to steer through a sliding mode control algorithm, the direction of the rice direct seeding machine is adjusted, and the tracking error is reduced; when the error is within the accuracy acceptance range, the rice direct seeding machine keeps the heading angle to go straight. In the ground route section, the main control system 5 controls the speed and the steering of the rice direct seeding machine to track the route through a PID control algorithm according to the planned steering route and the direction of the rice direct seeding machine provided by the Beidou navigation and positioning system 2.
In step 3, when the main control system 5 judges that the rice direct sowing machine reaches the operation path end point according to the orientation information of the rice direct sowing machine and the stored operation path data obtained by the Beidou positioning and navigation system 2, sowing and walking are stopped, and a user is notified through the operation monitoring module 101 in the operation management terminal system 1.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (6)
1. A control method based on a modular automatic driving control device of a rice direct sowing machine is characterized in that the modular automatic driving control device of the rice direct sowing machine comprises the following steps: operation management terminal system, navigation positioning system, main control system, wireless communication management system, turn to control and execution system, speed control and execution system and gear control and execution system, wherein: the operation management terminal system outputs planning path operation information to the main control system through the wireless communication management system and receives running state information, the navigation positioning system outputs orientation information of the rice direct sowing machine to the main control system, and the main control system receives a steering wheel angle, an accelerator position and a gear shifting lever position from the steering control and execution system, the speed control and execution system and the gear control and execution system respectively and outputs steering control quantity, speed control quantity and gear control quantity;
the job management terminal system includes: operation monitoring module, route planning module and by the data communication module that server remote communication unit and master controller wireless communication unit constitute, wherein: the operation monitoring module receives operation condition real-time monitoring information of a main controller wireless communication unit from the data communication module, the path planning module receives position information of an operation land block from the main controller wireless communication unit and operation GIS information from the server remote communication module, and an operation path is generated and sent to the main controller through the main controller wireless communication unit; the path planning module is used for manually setting an operation path and sending the operation path to the main control system through the main controller wireless communication unit;
the control method comprises the following steps:
step 1, determining the direction and the size of a working land by combining an operation monitoring module of an operation management terminal system with a navigation positioning system, setting a seeding interval, and sending the working path of the rice direct seeding machine to a main control system after a path planning module plans the working path of the rice direct seeding machine by using a full coverage path planning algorithm according to the direction and the size information of the working land;
the route planning module plans a turning route at the ground by adopting an omega-shaped route planning algorithm, and the route of the operation area outside the ground adopts a linear route planning algorithm; the operation plot information required by the path planning module is obtained by acquiring GIS information provided by a cloud server or user input of an operation monitoring module through a server remote communication unit;
step 2, the rice direct seeding machine runs to the starting point of the operation land, and an automatic driving mode is started through an operation management terminal system;
step 3, the main control system combines the longitude and latitude and the azimuth angle of the rice direct seeding machine provided by the navigation positioning system, converts the longitude and latitude and the azimuth angle into coordinates in a coordinate system of an operation land block through a coordinate conversion algorithm, and combines a pre-planned operation path to execute straight movement, steering and operation until all the operation paths are finished;
the main control system compares the orientation information of the rice direct sowing machine obtained by the navigation positioning system with the stored operation path data, and judges whether the rice direct sowing machine needs to turn:
in the straight-going path section, when the direction of the rice direct seeding machine and the operation path have transverse deviation or course angle deviation and exceed the precision requirement, a steering control and execution system is controlled to steer through a sliding mode control algorithm, the direction of the rice direct seeding machine is adjusted, and the tracking error is reduced; when the error is within the precision acceptance range, the rice direct seeding machine keeps the course angle to go straight;
in the ground path section, the main control system controls the speed and the steering of the rice direct sowing machine to track the path through a PID control algorithm according to the planned steering path and the direction of the rice direct sowing machine provided by the navigation positioning system;
and when the main control system judges that the rice direct sowing machine reaches the operation path end point according to the orientation information of the rice direct sowing machine and the stored operation path data obtained by the Beidou positioning and navigation system, the sowing and the walking are stopped, and the operation monitoring module in the operation management terminal system informs a user.
2. The control method as claimed in claim 1, wherein the navigation and positioning system adopts a China Beidou satellite navigation system, uses RTK differential global positioning for measuring centimeter-level accurate position of a rice direct seeding machine body, and sends position information to the main control system for analysis and processing so as to control the rice direct seeding machine to walk or turn.
3. The control method according to claim 1, wherein the main control system comprises: the main processing unit and two RS232 interfaces, SD card data storage interfaces that are used for receiving big dipper navigation positioning information and data communication respectively that link to each other respectively with it and be used for the CAN bus interface to each action execution unit's control and position gesture detection, wherein: the two RS232 interfaces, the SD card data storage interface and the CAN bus interface exchange and communicate data with the main processing unit through an internal data bus; the main processing unit analyzes the position information provided by the Beidou navigation system, the path information provided by the path planning system, the information of the corner sensor and the vehicle body inclination angle sensor into control information for controlling the movement of the steering control and execution system, the speed control and execution system and the gear control and execution system, and realizes the automatic walking, steering, obstacle avoidance and operation of the rice direct seeding machine.
4. The control method as claimed in claim 1, wherein the wireless communication management system is connected to the second RS232 interface of the main control system via RS232, and transmits the operation data radio module and the bluetooth communication module to the operation management terminal.
5. The control method as claimed in claim 1, wherein said steering control and execution system comprises: wheel corner sensor, automobile body attitude sensor, CAN bus step motor driver, speed reduction step motor, synchronous belt drive system, spline formula steering wheel motion transmission system, wherein: the wheel corner sensor for detecting the wheel corner is arranged at a wheel shaft and outputs a corner feedback signal to the main control system through the CAN bus, the vehicle body attitude sensor for detecting the vehicle body roll angle is arranged on the vehicle body and outputs a vehicle body attitude feedback signal to the main control system through the CAN bus, and the CAN bus stepping motor driver receives a steering system action signal from the main control system and drives the deceleration stepping motor to drive the spline type steering wheel motion transmission system to rotate, so that the steering control and track tracking of the rice direct seeding machine and high path tracking precision are realized.
6. The control method as claimed in claim 1, wherein said speed control and execution system comprises: speed controller and the first electric putter and the accelerator pedal connector that have position feedback that link to each other respectively with it, wherein: first electric putter sets up on the automobile body and its stretches out the end and is connected with accelerator pedal through accelerator pedal connector, speed controller receives live broadcast machine speed command signal that main control system sent through the CAN bus, convert current speed command into the electric putter displacement, and gather first electric putter's current position in real time, realize the high accuracy control to first electric putter given position through closed loop feedback, speed controller exports pedal control command to accelerator pedal connector in addition with control accelerator pedal position, realize the autonomous control of live broadcast machine speed of marcing.
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