A Basic Approach to Implement Guided Tractor Control
نویسنده
چکیده
Within a continuous development of mobile agricultural machinery the application and further introduction of electronic controls is offering the fare most potential for working processes optimization. The article gives an introduction to tractor and implement controls, especially targeting implement guided tractor control, underlined with two executed examples for this advanced control design. A structured development model and basic knowledge on safe and robust control loop set-ups were developed. Potential conflict scenarios within the multi master control system of driver, tractor, implement and independently pre-planned task control were identified and solved by arbitrational state strategies. The two exemplarily executed demonstration examples utilize different control commands to functions and interfaces of the tractor. One example is an implement guided headland management; the other is a PTO torque guided tractor speed control. Both automation strategies have been pre-simulated and implemented introducing ISO 11783 communication protocol. Results from final field tests are closing the paper.
منابع مشابه
Nonlinear Model Predictive Trajectory Control in Tractor-Trailer System for Parallel Guidance in Agricultural Field Operations
So called automatic guidance systems are becoming more common in agricultural tractors, so that a driver does not need to steer the vehicle. The systems are mostly relying on GPS with correction. However, these systems usually steer only the tractor itself, despite the fact that the implement is the one that has to be run side by side with the previous swath. With towed implements, or trailers,...
متن کاملSystem Identification and Robust Control of Farm Vehicles Using CDGPS
Automatic control of agricultural vehicles has been a research goal for many years. Previous attempts have failed largely due to sensor limitations. With the advent of modern GPS receivers, a single low-cost sensor has been synthesized in which centimeter-level position and attitude measurements of the vehicle state are available using Carrier-Phase Differential Global Positioning System (CDGPS...
متن کاملCoordinated Control of a Tractor-Trailer and a Combine Harvester by Neural Adaptive Robust Control
In this paper, the coordinated control problem of a tractor-trailer and a combine harvester is taken into account in the presence of model uncertainties by using the leader-following approach to track a reference trajectory for the first time. At first, a second-order leader-follower dynamic model is developed in Euler-Lagrange form which preserves all structural properties of the dynamic model...
متن کاملGeometric performance parameters of three-point hitch linkage system of a 2WD Indian tractor
Prasanna Kumar G.V. (2015): Geometric performance parameters of three-point hitch linkage system of a 2WD Indian tractor. Res. Agr. Eng., 61: 47–53. Geometric performance parameters of three-point hitch system of a most sold model of a 2-wheel drive Indian tractor were determined by generating the path of upper and lower hitch points by kinematic linkage analysis. At various locations of pivot ...
متن کاملOpen and Closed Loop System Characteristics of a Tractor and an Implement Dynamic Model
Accurate guidance of towed implements is important for performing agricultural field operations and for gaining the ultimate benefit from an agricultural automatic guidance system. The study of open and closed loop system responses can be helpful in the design of practical guidance controllers. A dynamic model of a tractor and a towed implement system was developed. Open loop analysis of the ki...
متن کامل