School of Machinery and Automation, Weifang University, Weifang, Shandong Province, China.
School of Mechanical and Electrical Engineering, Lanzhou University of Technology, Lanzhou, Gansu Province, China.
PLoS One. 2023 Apr 6;18(4):e0283961. doi: 10.1371/journal.pone.0283961. eCollection 2023.
Trajectory tracking is one of the key technologies for tractor automatic navigation. Its main purpose is to adjust the steering mechanism of the tractor to follow the planned trajectory. Thus, in this paper a trajectory tracking control system is designed for an agricultural tractor with the electric power steering mechanism. A DC brush motor is added on the steering column of the tractor and the hardware circuits for the steering controller are designed to control the front wheel angel. The three degrees of freedom model of the tractor is established, and a trajectory tracking control system is proposed including a fuzzy sliding mode controller and a steering angle tracking controller designed according to the internal mode control and minimized sensitivity theory. The effectiveness of the designed trajectory tracking control system is demonstrated by simulation analyses in reference to the planed trajectory.
轨迹跟踪是拖拉机自动导航的关键技术之一。其主要目的是调整拖拉机的转向机构，使其跟随规划的轨迹。因此，本文为具有电力转向机构的农业拖拉机设计了一种轨迹跟踪控制系统。在拖拉机的转向柱上增加了一个直流有刷电机，并设计了转向控制器的硬件电路来控制前轮转角。建立了拖拉机的三自由度模型，并提出了一种轨迹跟踪控制系统，该系统包括一个模糊滑模控制器和一个根据内模控制和最小灵敏度理论设计的转向角跟踪控制器。通过参考规划轨迹的仿真分析，验证了所设计的轨迹跟踪控制系统的有效性。
