Agricultural vehicle independent navigation steering control method based on disturbance observer

A disturbance observer and agricultural vehicle technology, applied in two-dimensional position/course control, adaptive control, general control system, etc., can solve problems such as insufficient robustness and stability, and achieve the effect of intelligent and precise navigation

Inactive Publication Date: 2015-04-29
NANJING AGRICULTURAL UNIVERSITY
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Problems solved by technology

This control strategy is obviously insufficient for the high precision, interference suppression abili

Method used

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  • Agricultural vehicle independent navigation steering control method based on disturbance observer
  • Agricultural vehicle independent navigation steering control method based on disturbance observer
  • Agricultural vehicle independent navigation steering control method based on disturbance observer

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Embodiment Construction

[0078] The specific implementation manner of the present invention will be described below in conjunction with the accompanying drawings.

[0079] Since the model of the autonomous navigation control system for agricultural vehicles studied is nonlinear in nature, the control scheme of the third-order linear system is discussed first. Through the analysis and design of the third-order linear model, the optimization study of the nonlinear original model is carried out. The third-order system is divided into nonlinear model and linear model. The design idea is that the controller and observer designed under the linear model can also be used for the original nonlinear model.

[0080] A third-order linear system model such as image 3 and Figure 4 As shown, according to the state space expression, the state feedback is used to configure the poles: the motion equation of the tractor is as follows

[0081] y ...

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Abstract

The invention discloses an agricultural vehicle independent navigation steering control method based on a disturbance observer, and belongs to the field of high-precision tracking control of agricultural vehicle independent navigation control. The method adopts a closed loop control mode, the practical lateral deviation of a vehicle is roughly calculated by an open loop, correction is carried out by a closed loop, an accumulative error is eliminated until accurate tracking is achieved, and a whole control cycle is achieved. In view of the diversification of an agricultural vehicle motion model, the adoptive control means are also changeable, a pole assignment mode is utilized to achieve an accuracy control over a three order linear and nonlinear model. According to the agricultural vehicle independent navigation steering control method based on the disturbance observer, the control effect, under the setting of the corresponding control means, of the agricultural vehicle motion control method can reach the fact that the overshoot is less than 5% and the adjustment time is less than 3 seconds, and tracking without a steady-state error can be finally achieved.

Description

technical field [0001] The invention belongs to the research field of intelligent path navigation and high-precision control of agricultural vehicles, and specifically relates to the design of a controller for intelligent navigation of agricultural vehicles and the design of an active anti-interference disturbance observer. Background technique [0002] The design of the intelligent navigation controller for agricultural vehicles can consider the multivariable, nonlinear, and time-varying characteristics of the system, and use various intelligent control schemes: including fuzzy algorithms, integer-order fractional-order PID algorithms, and further design the system. Specifically, an optimized control scheme can be proposed according to the characteristics of the system; in the process of autonomous navigation of agricultural vehicles, the structure and hardness of the soil, the uncertainty of random noise, the unevenness of the road surface, the change of the load torque of ...

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
Inventor 林相泽陈晨陈科瑞丁为民
Owner NANJING AGRICULTURAL UNIVERSITY
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