Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Autonomous navigation steering control method for agricultural vehicles

An agricultural vehicle, steering control technology, applied in adaptive control, general control system, two-dimensional position/course control and other directions

Inactive Publication Date: 2017-07-28
NANJING AGRICULTURAL UNIVERSITY
View PDF1 Cites 0 Cited by
  • 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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Autonomous navigation steering control method for agricultural vehicles
  • Autonomous navigation steering control method for agricultural vehicles
  • Autonomous navigation steering control method for agricultural vehicles

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0117] The specific implementation manner of the present invention will be described below in conjunction with the accompanying drawings.

[0118] Firstly, the tables involved in the present invention will be shown one by one below.

[0119] The kinematic state equation of the vehicle;

[0120]

[0121]

[0122] Table 1 and Table 2 are Routh tables for determining the specific adjustment range of controller parameters

[0123]

[0124] Table 1

[0125]

[0126] Table 2

[0127] Table 3. Closed-loop system unit step response performance index comparison table under ITAE criterion

[0128]

[0129] Table 4 Comparison table of system unit step response performance indicators under two fractional order PD controller structures

[0130]

[0131] Table 5 Control system performance index comparison table under the action of integer order PD and fractional order PD respectively

[0132]

[0133] Table 6 and Table 7 Integer-order optimal PD and fractional-orde...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/02
Inventor 林相泽陈晨陈科瑞黄帅婷徐尚
Owner NANJING AGRICULTURAL UNIVERSITY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com