Lateral Displacement Control for Agricultural Tractor Based on Cascade Control Structure
Path tracking control for the autonomous tractor has been receiving increased attention with the rapid development of modern agriculture. Lateral displacement control is essential for the path tracking effect. The objective of this research is to develop a lateral displacement control system to cont...
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| Published in | International journal of control, automation, and systems Vol. 18; no. 9; pp. 2375 - 2385 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Bucheon / Seoul
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
01.09.2020
Springer Nature B.V 제어·로봇·시스템학회 |
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| Abstract | Path tracking control for the autonomous tractor has been receiving increased attention with the rapid development of modern agriculture. Lateral displacement control is essential for the path tracking effect. The objective of this research is to develop a lateral displacement control system to control the lateral position of tractor. Based on the kinematic model, a cascade control scheme for lateral displacement control system was designed. The two feedback loops in the cascade control structure were implemented using the measurements of the Beidou receiver and gyroscope respectively. The yaw rate controller was designed using IMC-PID technique, and the lateral position controller was devised as a PID form using the method of minimum sensitivity. A set point filter was added in the outer loop to improve the tracking performance. The simulation results demonstrated the efficiency of the proposed control scheme by showing fast response, control accuracy and robust performance for the lateral displacement control system. |
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| AbstractList | Path tracking control for the autonomous tractor has been receiving increased attention with the rapid development of modern agriculture. Lateral displacement control is essential for the path tracking effect. The objective of this research is to develop a lateral displacement control system to control the lateral position of tractor. Based on the kinematic model, a cascade control scheme for lateral displacement control system was designed. The two feedback loops in the cascade control structure were implemented using the measurements of the Beidou receiver and gyroscope respectively. The yaw rate controller was designed using IMC-PID technique, and the lateral position controller was devised as a PID form using the method of minimum sensitivity. A set point filter was added in the outer loop to improve the tracking performance. The simulation results demonstrated the efficiency of the proposed control scheme by showing fast response, control accuracy and robust performance for the lateral displacement control system. Path tracking control for the autonomous tractor has been receiving increased attention with the rapid development of modern agriculture. Lateral displacement control is essential for the path tracking effect. The objective of this research is to develop a lateral displacement control system to control the lateral position of tractor. Based on the kinematic model, a cascade control scheme for lateral displacement control system was designed. The two feedback loops in the cascade control structure were implemented using the measurements of the Beidoureceiver and gyroscope respectively. The yaw rate controller was designed using IMC-PID technique, and the lateral position controller was devised as a PID form using the method of minimum sensitivity. A set point filter was added in the outer loop to improve the tracking performance. The simulation results demonstrated the efficiency of the proposed control scheme by showing fast response, control accuracy and robust performance for the lateral displacement control system. KCI Citation Count: 4 |
| Author | Gao, Jie Sun, Qun Yin, Chengqiang Wang, Shourui |
| Author_xml | – sequence: 1 givenname: Shourui surname: Wang fullname: Wang, Shourui organization: School of Mechanical and Automobile Engineering, Liaocheng University – sequence: 2 givenname: Chengqiang orcidid: 0000-0002-7495-8233 surname: Yin fullname: Yin, Chengqiang email: yinchengqiang@lcu.edu.cn organization: School of Mechanical and Automobile Engineering, Liaocheng University – sequence: 3 givenname: Jie surname: Gao fullname: Gao, Jie organization: School of Mechanical and Automobile Engineering, Liaocheng University – sequence: 4 givenname: Qun surname: Sun fullname: Sun, Qun organization: School of Mechanical and Automobile Engineering, Liaocheng University |
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| Cites_doi | 10.1016/j.compag.2014.12.025 10.1007/s00202-016-0367-4 10.1016/j.compag.2011.12.009 10.1007/s12555-018-0096-8 10.1007/s12541-010-0083-3 10.1016/j.biosystemseng.2012.07.005 10.1016/j.jterra.2013.03.004 10.2174/1874129001610010129 10.3390/s110605630 10.1016/j.biosystemseng.2016.10.019 10.1016/j.mcm.2011.10.066 10.1109/CCA.2008.4629591 10.1016/j.engappai.2017.09.013 10.1016/j.cherd.2016.03.003 10.1016/j.isatra.2012.08.004 10.1007/978-3-319-07488-7_29 10.1007/s12555-017-0156-5 10.1016/j.isatra.2008.06.005 10.1007/s12555-015-0160-6 10.1016/j.compag.2015.05.012 10.1007/978-3-642-12220-0_27 10.1016/j.conengprac.2015.05.008 10.1016/j.compag.2019.02.019 10.1016/j.biosystemseng.2015.12.006 10.1007/s12555-011-0420-z 10.1016/j.inpa.2018.07.003 10.1007/s10846-018-0916-3 10.1016/j.biosystemseng.2015.12.019 10.1016/j.compag.2014.11.006 |
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| Keywords | PID controller automatic navigation lateral displacement cascade control Agricultural tractor |
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10.1016/j.biosystemseng.2015.12.019 – volume-title: Robust Process Control year: 1989 ident: 428_CR34 – volume: 112 start-page: 128 year: 2015 ident: 428_CR21 publication-title: Computers and Electronics in Agriculture doi: 10.1016/j.compag.2014.11.006 |
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| Snippet | Path tracking control for the autonomous tractor has been receiving increased attention with the rapid development of modern agriculture. Lateral displacement... |
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| SubjectTerms | Cascade control Computer simulation Control Control systems design Control theory Controllers Engineering Feedback loops Lateral displacement Mechatronics Path tracking Regular Paper Robotics Robust control Tracking control Yaw 제어계측공학 |
| Title | Lateral Displacement Control for Agricultural Tractor Based on Cascade Control Structure |
| URI | https://link.springer.com/article/10.1007/s12555-019-0428-3 https://www.proquest.com/docview/2438395044 https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART002616060 |
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| ispartofPNX | International Journal of Control, 2020, Automation, and Systems, 18(9), , pp.2375-2385 |
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