Abstract
Precision control is a crucial aspect of fine agriculture. Enhancing the control performance of agricultural and forestry vehicles can reduce driver fatigue, improve productivity, and enhance operational accuracy. This study focuses on the ISO-11783 protocol of the serial communication network of a high-horsepower tractor control system. It combines the information frame of the controller area network (CAN) arbitration field and designs the CAN communication protocol network topology for the high-horsepower tractor control system. Based on the time-hierarchical controller area network protocol, the CAN communication protocol of the high-powered tractor control system is optimized to achieve dynamic scheduling of telegram messages. To evaluate the effectiveness of the virtual control terminal of the high-powered tractor control system designed in this paper, simulation tests and analyses are conducted. The results demonstrate that when the tractor speed drops below 15 km/h, the high-powered tractor engages the four-wheel-drive state, and when the tractor engine enters the idling state at 30.2 seconds, the tractor speed decreases considerably. Meanwhile, the CAN message update period obtained using the time-hierarchical controller area network is 86.5 ms, and the maximum transmission delay time of CAN message is 0.92 ms. The virtual terminal of the control system of the high-powered tractor designed with the ISO-11783 protocol can effectively carry out the state control of the high-powered tractor. It meets the requirements of real-time communication, ensuring the reliability of CAN communication and enabling the high-powered tractor to operate safely according to the driver's intention.