Modelling of an Agricultural Vehicle with Self-Governing Guidance1

Abstract

SUMMARY Automatic guidance of agricultural vehicles has been a major topic covered in a number of projects developed worlwide during the last years. The complex structure these systems show, where singularities and non-linearities are often present, renders analytical study difficult. Computer simulation techniques prove to be of great help in these cases. This paper presents the description and results analysis for the modelling of an agricultural vehicle with self governing guidance, as well as for the simulation of its automatic control. Vehicle modelling is achieved by means of the bond graph technique. The method's main contribution is a unified treatment for variables that simultaneously includes different physical domains, so that all variables are lumped together in a single simulation model.