Autopilot Nudge Control for Towed Implement Path Tracking
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Solution Overview
Problem
Passive, towed farm implements lack precise control over their path, leading to deviations due to uneven loads and sloping ground, requiring manual compensation by tractor operators, which is time-consuming and fatiguing, and existing autopilot systems for tractors do not effectively correct these deviations in real-time.
Innovation Solution
An advanced control system that uses a Smith predictor architecture to measure and correct the path of passive, towed implements by directing the autopilot-controlled tractor to offset its path, calibrating its internal model to respond quickly to nudge commands and minimize deviations, utilizing GNSS for precise positioning and feedback loops to adjust for disturbances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual compensation by tractor operators is used to correct implement path deviations, then path tracking accuracy can be improved, but operator fatigue increases and operation time is extended
Solution Approach 1:
The implement control system automatically measures its own position using GNSS and self-corrects path deviations by sending nudge commands to the tractor autopilot, eliminating the need for continuous manual operator intervention and reducing fatigue while maintaining accuracy
Solution Approach 2:
The system continuously monitors implement position via GNSS and uses feedback control to automatically adjust tractor offset commands, creating a closed-loop system that maintains path accuracy without requiring sustained operator attention
2Speed
If the tractor-autopilot system response time is reduced to correct implement deviations quickly, then path correction speed is improved, but control precision may be compromised
Solution Approach 1:
The system uses periodic GNSS measurements and continuous feedback control with optimized update rates to achieve fast response times while maintaining precision through regular position checks and incremental nudge commands
Data Source
AI summary
An automatic control system for passive, towed implements is described. The system provides a strategy for optimal control of a towed implement using a nudge input to an autopilot-controlled tractor. Implement path-tracking error, as measured by a GNSS receiver, is consistently corrected to zero.