Autopilot Tractor Nudge Control for Towed Implement Path Tracking
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Solution Overview
Problem
Passive, towed farm implements lack precise path control, leading to deviations from intended paths due to factors like asymmetrical loading and slope, requiring manual compensation by tractor operators, which is imprecise, time-consuming, and fatiguing.
Innovation Solution
A control system that directs an autopilot-controlled tractor to provide optimal offset commands to correct deviations of passive, towed implements, using GNSS receivers and a Smith predictor-like architecture to estimate implement position and speed, allowing direct nudge control without modifying the tractor autopilot system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual steering compensation is used to correct implement path deviations, then path control accuracy can be improved, but operator fatigue increases and response time increases
Solution Approach 1:
The implement control system uses automated feedback control where the implement controller receives position data from GNSS receivers, calculates required corrections, and sends nudge commands to the tractor autopilot system without human intervention. This self-service automation eliminates operator fatigue while maintaining high path control accuracy and reducing response time.
Solution Approach 2:
The system continuously monitors implement position using GNSS receivers on both the tractor and implement, compares actual position with desired path, and automatically generates corrective nudge commands. This closed-loop feedback control ensures high path control accuracy while enabling rapid automated response to deviations.
2Measurement precision
If automated control systems are implemented for passive implements, then path control accuracy is improved, but system complexity increases
Solution Approach 1:
The implement controller serves multiple functions: it receives and processes GNSS position data from both tractor and implement, calculates path deviations, generates nudge commands, and communicates with the tractor autopilot system. This multi-functionality consolidates control logic into a single device, improving path control accuracy while managing system complexity through functional integration.
Solution Approach 2:
The implement controller acts as an intermediary between the GNSS positioning system and the tractor autopilot system. It receives position information, processes the data to determine required corrections, and sends standardized nudge commands to the autopilot. This intermediary role simplifies the overall system architecture by providing a clear interface between positioning and control functions.
3Device complexity
If passive implements are used without active steering, then equipment simplicity is maintained, but path following accuracy deteriorates
Solution Approach 1:
The implement controller serves as an intermediary that translates implement position deviations into nudge commands for the tractor autopilot. This intermediary approach maintains the simplicity of passive implements without active steering while achieving high path following accuracy through automated tractor position adjustment.
Solution Approach 2:
Instead of actively steering the implement to follow the path, the system inverts the approach by steering the tractor to position itself such that the passive implement naturally follows the desired path. This inversion maintains implement simplicity while achieving high path following accuracy through controlled tractor offset positioning.
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.