Implement Velocity Control for Cross-Track Steering Accuracy
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Solution Overview
Problem
Modern mobile machinery, such as agricultural and earthmoving machines, face challenges in accurately controlling velocity to maintain precise horizontal steering and minimize cross track errors due to system limitations, environmental factors, and uneven terrain, which affects efficiency and soil compaction.
Innovation Solution
A computer-implemented method that captures sensor data to estimate the actual position of the machine, calculates cross track errors, and adjusts velocity to reduce these errors by comparing actual and target cross track error metrics, using a velocity control loop in conjunction with a steering control loop to achieve optimal horizontal control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If velocity control is not implemented, then the machine can operate at higher speeds, but cross track error increases and horizontal steering precision deteriorates
Solution Approach 1:
The system continuously monitors actual position using sensors (GNSS, IMU, wheel encoders) and compares it to the desired guidance path, then adjusts velocity based on the calculated cross track error. This closed-loop feedback mechanism enables precise horizontal steering control while maintaining efficient operating speeds by dynamically adjusting velocity rather than maintaining a constant low speed.
2Manufacturing precision
If velocity control is implemented to reduce cross track error, then horizontal control improves, but system complexity increases
Solution Approach 1:
The velocity control module integrates multiple functions into a single system: it processes data from various sensors (GNSS, IMU, wheel encoders), calculates cross track error, determines optimal velocity adjustments, and outputs control signals. This multi-functional integration improves row/furrow alignment while minimizing the increase in overall system complexity by consolidating control functions.
Solution Approach 2:
The velocity control module acts as an intermediary between the guidance path definition and the actual machine execution. It receives the desired path, calculates deviations, and generates velocity commands that mediate between the steering control and the prime mover, simplifying the overall control architecture while achieving precise alignment.
3Productivity
If cross track error is not minimized, then machine can operate more efficiently, but soil compaction increases and area coverage decreases
Solution Approach 1:
The system dynamically adjusts velocity based on real-time cross track error conditions rather than operating at a fixed speed. When the machine is close to the desired path, velocity can be maintained or increased for efficiency; when deviation occurs, velocity is reduced to allow correction. This dynamic velocity control minimizes soil compaction and optimizes area coverage while maintaining high operational efficiency.
Data Source
AI summary
Described herein are systems, methods, and other techniques for controlling a velocity of an implement-equipped machine. An actual position of the implement-equipped machine is estimated based on sensor data captured using the machine's sensors. A cross track error between a target position and the actual position is calculated. An actual cross track error metric is calculated based on the cross track error. The actual cross track error metric is compared to a target cross track error metric to determine a velocity adjustment, where the velocity adjustment is determined so as to reduce a difference between the actual cross track error metric and the target cross track error metric. The velocity of the implement-equipped machine is adjusted by the velocity adjustment.