Research on decoupling control for the longitudinal and lateral dynamics of a tractor considering steering delay-Reference-Cited by-同舟云学术

Research on decoupling control for the longitudinal and lateral dynamics of a tractor considering steering delay

Published:2022-08-17 Issue:1 Volume:12 Page:
ISSN:2045-2322
Container-title:Scientific Reports
language:en
Short-container-title:Sci Rep

Author:

Miao Hequan,Diao Peisong,Xu Guangfei,Yao Wenyan,Song Zhicai,Wang Wenjun

Abstract

AbstractTo enhance the efficiency of tractor operation, the longitudinal and lateral dynamic control of a self-driving tractor is studied in this paper, and a control system that decouples control of the longitudinal and lateral movement of the tractor is proposed. The trajectory controller calculates the desired speed and desired yaw rate signals of each subsystem, and a PID controller regulates the longitudinal speed of the tractor. A pure pursuit algorithm calculates the desired front wheel angle of the tractor. To decrease the system time delay in the automatic steering system, an automatic steering scheme based on improved Smith predictive control is proposed. Through decoupling control of the longitudinal and lateral controllers, the tractor’s path tracking performance is assured.

Funder

China National Key Research and Development Program "Key Technologies and Equipment Optimization and Integrated Demonstration of Low Loss Wheat and Corn Harvesting"

Major Agricultural Application Technology Innovation Project of Shandong Province

Publisher

Springer Science and Business Media LLC

Subject

Multidisciplinary

Link

https://www.nature.com/articles/s41598-022-18335-0.pdf

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