Steering control method of intelligent harvester based on new reaching law sliding mode controller
A steering control and harvester technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of reducing system control accuracy, increasing system energy consumption, destroying system performance, etc., and achieving good robustness , the effect of improving performance and strong adaptability
Active Publication Date: 2022-05-13
SOUTHEAST UNIV
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However, the switching characteristics of its switching function cause the controller to chatter, reduce the system control accuracy, increase the system energy consumption, damage the system performance, and even damage the system components.
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[0033] The present invention will be further clarified below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and not to limit the scope of the present invention.
[0034] like figure 1 As shown, the present invention discloses a steering control method for an intelligent harvester based on a novel reaching law sliding mode controller, comprising the following steps:
[0035] Step 1. Determine the delay coefficient τ of the steering system of the harvester and the constant gain component k of the system through the calibration test con , the time-varying gain component k of the system is designed according to experience t . Generally take k t =0.1×m t , m t is the mass of grain entering the granary per second.
[0036] Step 2. Establish the steering system model of the harvester x 1 =θ n is the current steering angle of the harvester,...
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The invention discloses an intelligent harvester steering control method based on a novel approaching law sliding mode controller, comprising the following steps: 1. Through a calibration test, determine the delay coefficient and the system constant gain component of the harvester steering system; 2. Establish Steering system model of the harvester; 3. Use the dual-antenna satellite receiver to obtain the pose information of the harvester, and calculate the expected heading angle through the pure tracking path tracking algorithm; 4. Collect the current steering angle of the harvester through the angle sensor, and calculate the current steering error , to solve the reaching law function value; 5. Calculate the harvester steering system control amount according to the reaching law function value, input to the drive module to drive the steering system to rotate, and realize the steering control of the harvester. The method can improve the robustness of the steering system to disturbances such as external and control signals, speed up the convergence of the system, eliminate the chattering phenomenon of the sliding controller, and improve the performance of the steering control system and the path tracking control system.
Description
technical field [0001] The invention belongs to the field of unmanned control of an intelligent harvester, in particular to a steering control method of an intelligent harvester based on a novel approaching law sliding mode controller. Background technique [0002] The intelligent harvester assisted driving system can effectively reduce the driver's work intensity, improve the operation accuracy, and improve the harvesting efficiency. The control accuracy of the assisted driving system is limited by the navigation accuracy and control accuracy, and the control error is mainly composed of the path tracking control error and the steering control error. Improving the control accuracy of the steering system can directly optimize the operating efficiency of the assisted driving system. The rice-wheat combine harvester has the characteristics of large volume, large mass, large inertia and high delay, which brings challenges to the steering control of the harvester. Changes in fe...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王立辉乔楠
Owner SOUTHEAST UNIV