The automatic steering control system of SPU-60 rice transplanter was studied in this paper. The(control) system included steering controller and driving mechanism. Adaptive PD control algorithm was developed for orientation tracking.

• 以日本久保田SPU-60型插秧机为对象进行轮式农业机械自动转向控制研究,提出了基于速度的自适应PD控制方法,利用航向偏差作为控制器输入,控制器可根据插秧机行进速度在线调整其PD参数,进而输出前轮期望偏角。