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Alternative TitleNavigation Control System for a Tractor which Used Angular Velocity as the Steering Feedback
高雷; 胡静涛; 李逃昌; 刘晓光
Source Publication农机化研究
Contribution Rank1
Funding Organization国家高技术研究发展计划(863计划)项目(2013AA040403)
Keyword拖拉机 角速度计 转向控制 自动导航 串级控制
Other AbstractTo counter the defects of complex installation and low reliability of steering angle sensor in the conventional agricultural machine navigation control system,an angular velocity meter used as the Foton TA800 tractor steering feedback sensor. Navigation control apparatus connected by CAN bus were mounted on the tractor,based on these apparatus,a cascade PID navigation control system was designed. The inner loop PID controller used for steering control,and the outer loop PID controller used for path tracking control. Because of the comparatively large noise error of the angular velocity meter,integral operation would accumulate the error,to avoid integral operation,the angular velocity only used as the inner PID controller feedback. Correspondingly,angular velocity was chosen as the control variable of the outer PID controller. Accordingly,based on the proportional control algorithm which used steering angle as the control variable,an outer PID control algorithm which used steering angular velocity as the control variable was proposed. The experimental result indicates,the average tracking error of the straight line is 4. 1cm,the maximum tracking error is 12.9cm. Therefore,it is feasible to employ the angular velocity meter as the steering feedback sensor in the agricultural machine navigation control system.
Document Type期刊论文
Recommended Citation
GB/T 7714
高雷,胡静涛,李逃昌,等. 以角速度为转向动作反馈的拖拉机自动导航控制系统[J]. 农机化研究,2015(3):25-29.
APA 高雷,胡静涛,李逃昌,&刘晓光.(2015).以角速度为转向动作反馈的拖拉机自动导航控制系统.农机化研究(3),25-29.
MLA 高雷,et al."以角速度为转向动作反馈的拖拉机自动导航控制系统".农机化研究 .3(2015):25-29.
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