Design and optimization of an automatic hydraulic steer-by-wire system for an agricultural chassis

Abstract

To meet the requirements of fast steering at low vehicle speed and slow steering at high vehicle speed, the automatic steering of agricultural chassis must control both the wheel steering angle and the steering angle's angular speed. This study applied hydraulic steer-by-wire technology to the automatic steering control of agricultural chassis. First, the transmission mechanism of the designed steering system was optimized. According to the rule of least squares, aiming at the minimum sum of squares of errors between 10 ideal outer wheel angles and real outer wheel angles, the optimal solution of hole spacing on both sides of the steering hydraulic cylinder piston rod was 925 mm. The outer wheel angle error of the optimized steering mechanism throughout the steering stroke was less than 0.15°. Additionally, a hydraulic steer-by-wire system was developed, and the parameters of its critical components were calculated. Then, the compound control strategy of the steering cylinder piston rod displacement and moving speed was formulated for this automatic steering system. The entire control system included a valve control signal calculation model, an initial velocity calculation model, a correction velocity calculation model, and an attenuation velocity calculation model, and the formulae of each model were deduced. Based on the optimized parameters and the developed control strategy, a simulation model was built in AMESim, and simulation results showed that the proposed control strategy could achieve simultaneous controls of piston rod displacement and speed at different vehicle speeds and loads. The horizontal and vertical displacements of the right wheel center were plotted for typical vehicle speeds and steering commands. The results of this study provided a new idea for the application of hydraulic steer-by-wire technology in the automatic steering of agricultural chassis.

Multi-body dynamics modeling and test of an articulated steering half-track tractor

“…When the hydraulic cylinder is extended, is positive, and is negative when it is retracted. The relationship between the expansion amount of the cylinder at the extension end and the articulated steering angle is as shown in Equation (2). The relationship between the expansion amount of the cylinder at the contraction end and the articulated steering angle is the same.…”

“…The articulated steering tractor has the characteristics of small and compact structure, excellent trafficability and small turning radius, which has been widely utilized in orchards and small spacing farmland [1,2] . Meanwhile, with the rapid development of satellite navigation, wireless transmission of information, sensors and control technologies, the technical research and application of autonomous navigated agricultural equipment has also been rapidly promoted [3,4] .…”

The Design and Test of the Chassis of a Triangular Crawler-Type Ratooning Rice Harvester

“…The system simulation model was developed in AMESim2020(Guangzhou, China) to simulate the control accuracy of the system under different working conditions including straight-line driving, braking, and turning [27][28][29].…”