Stability Study of Time Lag Disturbance in an Automatic Tractor Steering System Based on Sliding Mode Predictive Control

Author:

Miao HequanORCID,Diao Peisong,Yao Wenyan,Li Shaochuan,Wang Wenjun

Abstract

To improve the working accuracy and anti-interference capability of the steering operation of an automatic tractor, this paper investigates the tractor steering system. In response to the current problems of high steering resistance during tractor field operations and the low service life of the drive shaft of conventional electric steering wheel solutions, an electro-hydraulic coupled power-assisted solution combining EPS and HPS is proposed. The combination of the EPS system’s high control accuracy and sensitive steering operation and the hydraulic power system’s large steering torque greatly reduces the power of the power motor and battery performance requirements, optimizing the power transmission scheme to achieve green and energy-saving purposes. Secondly, the research is focused on the influence of external disturbances on the stability of the steering system during tractor operation, and a combination of model predictive control and sliding mode control is used to study the steering system control strategy. It is finally demonstrated through simulations and experiments that it can compensate for the disturbance of the system control parameters by external disturbances, has the ability of MPC to handle input constraints and maintains the advantages of SMC robustness.

Funder

Shandong Major Science and Technology Innovation Project of China

Publisher

MDPI AG

Subject

Plant Science,Agronomy and Crop Science,Food Science

Reference35 articles.

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5. Javad, T., Xu, W., Stanley, L., and Jay, K. (2013, January 9–12). A sliding mode controller with a nonlinear disturbance observer for a farm vehicle operating in the presence of wheel slip. Proceedings of the 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, NSW, Australia.

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