Abstract
The most of tractors employed in agriculture are equipped with an electrohydraulic actuator to implement steering control to realize automatic navigation. Electrohydraulic steering system plays an important role in realizing accurate steering control for an automatic navigation tractor because of its complicated characteristics. The objective of this paper is to develop an electrohydraulic steering control system used for automatically guided agricultural tractors. As for the identified electrohydraulic steering system model, a modified Smith control structure was discussed. Based on the structure, an improved design method for voltage servo controller and disturbance rejection controller was proposed to enhance the performance of the steering control subsystem. The effectiveness and the superiority of the proposed method were verified by simulation under Matlab. Simulation results demonstrated the efficiency of the proposed method by showing fast response, control accuracy, and robust performance for the steering control system.
Highlights
Agricultural modernization has been realized in most field operations such as tillage, harvesting, weeding, land preparation [1]
In order to achieve accurate and prompt steering control on an automated agricultural tractor with an electrohydraulic steering system, Wu et al [15] designed an adaptive controller which consisted of an adaptive gain tuner and an adaptive nonlinearity compensator
According to the experimental results obtained on the electrohydraulic steering system, we get the model parameters of the open-loop transfer functions K = 22.7, T = 0.05, and θ = 0.12
Summary
Agricultural modernization has been realized in most field operations such as tillage, harvesting, weeding, land preparation [1]. Automatic navigation technology of agricultural machinery is one of the most important support technologies for modern agricultural equipment. The control accuracy of an electrohydraulic steering system determines the control accuracy of the automatic navigation system [13, 14]. In order to achieve accurate and prompt steering control on an automated agricultural tractor with an electrohydraulic steering system, Wu et al [15] designed an adaptive controller which consisted of an adaptive gain tuner and an adaptive nonlinearity compensator. Li et al [17] designed an automatic steering controller and proposed a double closed-loop control algorithm to realize autonomous navigation of agricultural machinery. Fu et al [18] proposed the method for supporting agricultural priority drivers manually operated steering and designed the electrohydraulic automatic steering scheme. Rovira-Mas et al [20] investigated the dynamics of an electrohydraulic steering
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