Semi-physical simulation system for operation track planning and control of forestry felling and cultivation machine

The invention discloses a semi-physical simulation system for operation track planning and control of a forestry felling and cultivation machine. The semi-physical simulation system comprises an industrial control computer, an on-board embedded computer and an on-board PLC (programmable logic controller), wherein the on-board embedded computer is connected with a laser measurement system and comprises a control input acquisition module, an output parameter display module, a stumpage laser measurement algorithm module and a track planning and control algorithm module; the on-board PLC is connected with a joystick, a steering wheel, a brake pedal and an accelerator pedal and is used for acquiring and processing control input quantity of the joystick, the steering wheel, the brake pedal and the accelerator pedal and outputting hydraulic cylinder control signals of the physical forestry felling and cultivation machine; the industrial control computer is used for completing real-time and dynamic virtual display of independent felling operation tasks of the forestry felling and cultivation machine. The semi-physical simulation system has the advantages that an operation track planning and intelligent control method for the forestry felling and cultivation machine can be verified, and the semi-physical simulation system is high in data volume processing capacity, high in interactivity and low in cost.