CN105137968A - Agricultural vehicle automatic steering control method based on disturbance observation - Google Patents
Agricultural vehicle automatic steering control method based on disturbance observation Download PDFInfo
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- CN105137968A CN105137968A CN201510425953.7A CN201510425953A CN105137968A CN 105137968 A CN105137968 A CN 105137968A CN 201510425953 A CN201510425953 A CN 201510425953A CN 105137968 A CN105137968 A CN 105137968A
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- agricultural vehicle
- automatic steering
- steering control
- vehicle automatic
- disturbance
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Abstract
The invention discloses an agricultural vehicle automatic steering control method based on disturbance observation. The agricultural vehicle automatic steering control method based on disturbance observation comprises the following steps that the control flow graph of an agricultural vehicle path tracking control system is formulated; an agricultural vehicle path control system model is established; input control variables of the agricultural vehicle path tracking control system are set; research objects of the agricultural vehicle path tracking control system are confirmed; a three-order linear model is established; the intrinsic three types of disturbances are introduced in the system based on the three-order linear model; two different disturbance observers are added, and the control effects of the two different disturbance observers are compared and analyzed; and an agricultural vehicle automatic steering control system based on disturbance observation is constructed for agricultural vehicle automatic steering control. According to the agricultural vehicle automatic steering control method based on disturbance observation, precision and speed of agricultural vehicle automatic steering control can be effectively enhanced, and thus the method has great market prospect.
Description
Technical field
The present invention relates to technical field of agricultural machinery, particularly relate to a kind of agricultural vehicle automatic steering control method based on disturbance observation.
Background technology
Agri-vehicle operating environment is complicated, and its motion affects by many non-linear factors such as physical environments, and in traditional agricultural vehicle automatic steering control method, because disturbing factor is more, control method precision is poor.
Summary of the invention
For overcoming the above-mentioned technical matters existed in prior art, this application provides a kind of agricultural vehicle automatic steering control method based on disturbance observation.
Object of the present invention carrys out specific implementation by the following technical programs:
Based on an agricultural vehicle automatic steering control method for disturbance observation, comprise the following steps:
1) control flow chart of agricultural vehicle path following control system is drafted;
2) agri-vehicle contouring system model is set up;
3) agricultural vehicle path following control system input control variable is set;
4) agri-vehicle path following control systematic research object is determined;
5) three rank linear models are set up;
6) based on the three class disturbances that three rank linear model drawing-in system essence exist;
7) two kinds of different disturbance observers are added, the control effects of the disturbance observer that comparative analysis two kinds is different;
8) construct the agricultural vehicle automatic steering control system based on disturbance observation, agricultural vehicle auto-steering is controlled.
Beneficial effect of the present invention is:
A kind of agricultural vehicle automatic steering control method based on disturbance observation disclosed in the present application, effectively improves precision and the speed of agri-vehicle automatic steering control, has good market outlook.
Embodiment
Introduce the embodiment of technical scheme below in detail.
Based on an agricultural vehicle automatic steering control method for disturbance observation, comprise the following steps:
1) control flow chart of agricultural vehicle path following control system is drafted;
2) agri-vehicle contouring system model is set up;
3) agricultural vehicle path following control system input control variable is set;
4) agri-vehicle path following control systematic research object is determined;
5) three rank linear models are set up;
6) based on the three class disturbances that three rank linear model drawing-in system essence exist;
7) two kinds of different disturbance observers are added, the control effects of the disturbance observer that comparative analysis two kinds is different;
Construct the agricultural vehicle automatic steering control system based on disturbance observation, agricultural vehicle auto-steering is controlled.
Claims (1)
1., based on an agricultural vehicle automatic steering control method for disturbance observation, it is characterized in that: comprise the following steps:
1) control flow chart of agricultural vehicle path following control system is drafted;
2) agri-vehicle contouring system model is set up;
3) agricultural vehicle path following control system input control variable is set;
4) agri-vehicle path following control systematic research object is determined;
5) three rank linear models are set up;
6) based on the three class disturbances that three rank linear model drawing-in system essence exist;
7) two kinds of different disturbance observers are added, the control effects of the disturbance observer that comparative analysis two kinds is different;
8) construct the agricultural vehicle automatic steering control system based on disturbance observation, agricultural vehicle auto-steering is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510425953.7A CN105137968A (en) | 2015-07-20 | 2015-07-20 | Agricultural vehicle automatic steering control method based on disturbance observation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510425953.7A CN105137968A (en) | 2015-07-20 | 2015-07-20 | Agricultural vehicle automatic steering control method based on disturbance observation |
Publications (1)
| Publication Number | Publication Date |
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| CN105137968A true CN105137968A (en) | 2015-12-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201510425953.7A Pending CN105137968A (en) | 2015-07-20 | 2015-07-20 | Agricultural vehicle automatic steering control method based on disturbance observation |
Country Status (1)
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| CN (1) | CN105137968A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1695984A1 (en) * | 2005-02-25 | 2006-08-30 | Sysmex Corporation | Reference material for assaying d-dimer |
| CN103425131A (en) * | 2013-08-15 | 2013-12-04 | 江苏大学 | Navigation control method on basis of non-smooth control and disturbance observation for agricultural tractor |
| CN103970138A (en) * | 2014-05-08 | 2014-08-06 | 北京理工大学 | ALV transverse control method based on active disturbance rejection and differential smoothing |
| CN104317299A (en) * | 2014-11-11 | 2015-01-28 | 东南大学 | Mixed control method based on trace tracking of wheeled mobile robot |
| CN104571109A (en) * | 2015-01-04 | 2015-04-29 | 南京农业大学 | Agricultural vehicle independent navigation steering control method based on disturbance observer |
-
2015
- 2015-07-20 CN CN201510425953.7A patent/CN105137968A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1695984A1 (en) * | 2005-02-25 | 2006-08-30 | Sysmex Corporation | Reference material for assaying d-dimer |
| CN103425131A (en) * | 2013-08-15 | 2013-12-04 | 江苏大学 | Navigation control method on basis of non-smooth control and disturbance observation for agricultural tractor |
| CN103970138A (en) * | 2014-05-08 | 2014-08-06 | 北京理工大学 | ALV transverse control method based on active disturbance rejection and differential smoothing |
| CN104317299A (en) * | 2014-11-11 | 2015-01-28 | 东南大学 | Mixed control method based on trace tracking of wheeled mobile robot |
| CN104571109A (en) * | 2015-01-04 | 2015-04-29 | 南京农业大学 | Agricultural vehicle independent navigation steering control method based on disturbance observer |
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Application publication date: 20151209 |