Development of Electrohydraulic Steering Control System for Tractor Automatic Navigation

Yin, Chenbo; Sun, Qun; Wu, Jian; Liu, Chengqiang; Gao, Jie

doi:10.1155/2018/5617253

Cited by 5 publications

(9 citation statements)

References 23 publications

(25 reference statements)

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“…In terms of the conception, it is a four-wheeled articulated tractor with an all-wheel drive train. A steering system of the tractor contains two hydromotors and vertical pins [5]. Such a system ensures very well manoeuvrability and ability to work in heavy gradient of slopes.…”

Section: Methodsmentioning

confidence: 99%

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Design of pedestal for mounting of hydraulic grapple on skidder

Dižo

Blatnický

Fidrik

2020

19th International Scientific Conference Engineering for Rural Development Proceedings

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Skidders represent an important part of the forestry. They allow to perform timber harvesting in difficult conditions of forests in an effective way. In the Slovak republic, only one company currently produces several types of articulated steering skidders differing by the dimensions, operating weight, engine power etc., which are well-known and used in the region of central and Eastern Europe for many years. These products are exposed to the strong competition from other world producers. In comparison with earlier technical solution of skidders, which have used winches for pulling trees to a landing, skidders are recently most often equipped with a hydraulic grapple, which is controlled by an operator directly from a skidder cabin. Thus, the operator has not to get off the cabin in order to drag the cable to the logs and hook them up. Hence, the hydraulic grapple improves the user comfort of a skidder, mainly in bad weather conditions. Therefore, every skidder is currently required to allow mounting the hydraulic grapple. The content of this article is focused on presentation of the design of a pedestal, which is intended to be mounted on an articulated steering skidder. The pedestal is the structural unit of the smallest type of the skidders produced in the Slovak Republic. The designed pedestal will be mounted in the rear part of the skidder. Winches are located under it. Therefore, the pedestal has to be clapper for better access to winches during maintenance and repair processes. As the pedestal will be loaded by various types of loads resulting from its fundamentals in the real operating conditions, its structure has to be designed precisely. The article contains a CAD model of the pedestal. Based on the calculated forces, which will act on it during a real operation, strength analyses are carried out.

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Section: Methodsmentioning

confidence: 99%

“…Every foot includes two holes with a diameter of 25 mm. The pedestal structure is stiffened by the front wall (4), by rear stiffeners (5,6), as well as additional two other stiffeners (7,8). The thickness of the stiffeners is 15 mm.…”

Section: Fig 8 Pedestal Designmentioning

confidence: 99%

Design of pedestal for mounting of hydraulic grapple on skidder

Dižo

Blatnický

Fidrik

2020

19th International Scientific Conference Engineering for Rural Development Proceedings

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“…For the convenience of study, this paper simplifies the front wheel and steering gear to steering shaft [17]. We focus on the situation that the relevent forces are equivalent to the steering axis.…”

Section: Eps Steering Systemmentioning

confidence: 99%

EPS Current Tracking Method Research Based on Hybrid Sensitivity H∞ Control Algorithm

Hai-rong

et al. 2018

Journal of Electrical and Computer Engineering

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For electric power steering system (EPS), road interference, noise of the sensor, and the uncertainty of the steering system may make EPS control effect and the driver's road sense worse. EPS system which takes advantage of good current tracking ability, good anti-interference ability, and good operation stability is becoming more and more important in automotive research. The traditional H ∞ control algorithm can solve the system uncertainty theoretically, but it cannot solve the contradiction between robustness and performance without considering the performance of the system. Therefore, this paper proposes a EPS current tracking method based on the hybrid sensitivity H ∞ control algorithm, which takes the current tracking performance as one of the control objectives, so that the system can maximize the robustness and performance. Firstly, the dynamic model of EPS is established. Then, the twodegree-of-freedom vehicle model and tire model are introduced. The state space equation of the system is constructed on the basis of the system state space with random disturbance signals, the hybrid sensitivity H ∞ controller is designed in the sensitivity index design, and the proposed algorithm can use weighting function to minimize the performance of the current tracking error as well as the robustness of the yaw rate error in response to robustness. Simulation analysis and experimental verification of EPS system are also carried out. The results show that the control method of the hybrid sensitivity H ∞ can better achieve EPS target current tracking, effectively suppress the effect of external interference and noise, improve the system performance and robustness, ensure the driver get good road sense, and improve the system of steering stability.

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“…The path tracking control of unmanned farm tractors generally serves as a guide for vehicles to follow the predetermined paths that cover the field, through which, the current lateral offset, heading offset, position information from position sensors, and attitude sensors are obtained [28]. The actuating components covering hydraulic valves [22] and electric steering wheels [16] are then adopted to control the vehicle steering angle via a specific algorithm. Besides, a series of methods have been explored for better performance of the precision tracking control.…”

Section: Introductionmentioning

confidence: 99%

A Novel Control Method for Unmanned Agricultural Tractors: Composite Back-stepping Sliding Mode Path Tracking

Wei

Wang

2023

ITC

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A composite back-stepping sliding mode controller is explored in the paper to address the under-actuated, input saturated, and time-varying disturbances, as well as model-dependent issues that bother the path tracking control of unmanned agricultural tractors. Specifically, the path tracking error model is introduced. The extended state observers (ESO) with time-varying parameters are employed to handle the lump disturbances resulting from the external disturbances and model nonlinearity. A novel composite path tracking controller is proposed based on back-stepping and active disturbance rejection control and sliding mode control, whose effectiveness is elaborated by simulations and experiments. According to the results, the proposed controller, whose stability is elucidated in the appendix, outperforms the fuzzy pure pursuit control in reducing the lateral offset.

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Development of Electrohydraulic Steering Control System for Tractor Automatic Navigation

Cited by 5 publications

References 23 publications

Design of pedestal for mounting of hydraulic grapple on skidder

Design of pedestal for mounting of hydraulic grapple on skidder

EPS Current Tracking Method Research Based on Hybrid Sensitivity H∞ Control Algorithm

A Novel Control Method for Unmanned Agricultural Tractors: Composite Back-stepping Sliding Mode Path Tracking

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