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Agricultural vehicle autonomous navigation steering control method

A technology for agricultural vehicles and steering control, applied in adaptive control, general control system, two-dimensional position/channel control, etc.

Inactive Publication Date: 2015-10-28
NANJING AGRICULTURAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The designed control system can overcome uncertain problems such as integral saturation, and realize the non-static tracking of the predetermined path

Method used

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  • Agricultural vehicle autonomous navigation steering control method
  • Agricultural vehicle autonomous navigation steering control method
  • Agricultural vehicle autonomous navigation steering control method

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Embodiment Construction

[0118] The specific implementation manner of the present invention will be described below in conjunction with the accompanying drawings.

[0119] Firstly, the tables involved in the present invention will be shown one by one below.

[0120] The kinematic state equation of the vehicle;

[0121] y · Ψ · δ · = 0 V x 0 0 0 V x ...

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Abstract

The present invention discloses an agricultural vehicle autonomous navigation steering control method which belongs to the agricultural mobile platform intelligent high-precision tracking control field and accords with the standards of modern agriculture and intelligent agriculture. The agricultural vehicle autonomous navigation steering control method based on the integer-order PD and fractional-order PD controllers aims at a time delay link objectively existing in an actual control system, adopts a conventional closed loop control mode, calculates the actual transverse deviation of an agricultural vehicle roughly by an open loop, corrects the transverse deviation in a closed loop manner, eliminates an accumulative error, and restrains a time delay parameter until tracking accurately, thereby realizing the complete control of the agricultural vehicle expected path tracking.

Description

technical field [0001] The invention belongs to the research field of path intelligent tracking and high-precision robust performance of agricultural mobile platforms (device, facility). It specifically involves the theoretical and practical discussion of intelligent navigation path tracking control strategies for agricultural vehicles, and proposes a dual-structure controller design idea: optimal integer-order PD controller and optimal fractional-order PD controller. The structure of the control system adopts the traditional fixed value single closed-loop feedback control. Background technique [0002] Autonomous navigation control technology for agricultural vehicles has always been a key agricultural engineering technology for the promotion and pilot of modern agriculture and precision agriculture. The autonomous navigation control technology of agricultural vehicles is a priority development direction focused on in the contemporary agricultural field. Relevant literatu...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/02
Inventor 林相泽陈晨陈科瑞黄帅婷徐尚
Owner NANJING AGRICULTURAL UNIVERSITY