Wei Li, Mingxi Shao, Yuefeng Du, Zhixiang Li, Zhijuan Sun, Fan Yang
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Additionally, an actual vehicle test platform was built based on 3WPG-3000 high clearance self-propelled sprayer independently developed by the research group. The simulation results revealed that under the two-wheel steering mode, the lateral position deviation of the vehicle decreases to 0 m in 11 s, and the heading angle deviation decreases to 0 rad in about 11 s; while under four-wheel steering mode, the lateral position deviation of the vehicle decreases to 0 m in 8 s, and the heading angle deviation decreases to 0 rad in 8 s. The field test results revealed that at the speed of 3 km/h, the sprayer tracked the target path in 5.84 s under the two-wheel steering mode and reached stability, and tracked the target path in 4.08 s under the four-wheel steering mode and reached stability; while at the speed of 5 km/h, the spray tracked the target path in 3.75 s under the four-wheel steering mode and reached stability. Altogether, the results of the simulation and field test verify the stability, accuracy, and practicability of the system.","PeriodicalId":54568,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part D-Journal of Automobile Engineering","volume":"16 1","pages":""},"PeriodicalIF":1.5000,"publicationDate":"2024-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Design and verification of automatic navigation control system for large high clearance self-propelled sprayer\",\"authors\":\"Wei Li, Mingxi Shao, Yuefeng Du, Zhixiang Li, Zhijuan Sun, Fan Yang\",\"doi\":\"10.1177/09544070241280403\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An automatic navigation system aiming at improving the accuracy and efficiency of a large high clearance self-propelled sprayer was developed. First, a navigation hydraulic steering system was designed according to the structural characteristics and operation requirements of the sprayer, and a mathematical model of the system was established to describe the working characteristics of the navigation system. The system includes a navigation control strategy, a pure pursuit path tracking algorithm, and a fuzzy adaptive proportional-integral-derivative control method. To verify the performance of the system, a simulation model was developed using MATLAB/Simulink, and the performance of the control methods were compared. Additionally, an actual vehicle test platform was built based on 3WPG-3000 high clearance self-propelled sprayer independently developed by the research group. The simulation results revealed that under the two-wheel steering mode, the lateral position deviation of the vehicle decreases to 0 m in 11 s, and the heading angle deviation decreases to 0 rad in about 11 s; while under four-wheel steering mode, the lateral position deviation of the vehicle decreases to 0 m in 8 s, and the heading angle deviation decreases to 0 rad in 8 s. The field test results revealed that at the speed of 3 km/h, the sprayer tracked the target path in 5.84 s under the two-wheel steering mode and reached stability, and tracked the target path in 4.08 s under the four-wheel steering mode and reached stability; while at the speed of 5 km/h, the spray tracked the target path in 3.75 s under the four-wheel steering mode and reached stability. 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引用次数: 0
摘要
开发了一种自动导航系统,旨在提高大型高净空自走式喷雾器的精度和效率。首先,根据喷雾器的结构特点和操作要求设计了导航液压转向系统,并建立了系统数学模型来描述导航系统的工作特性。该系统包括导航控制策略、纯追求路径跟踪算法和模糊自适应比例-积分-派生控制方法。为了验证系统的性能,使用 MATLAB/Simulink 开发了一个仿真模型,并比较了各种控制方法的性能。此外,还以课题组自主研发的 3WPG-3000 型高净空自走式喷雾器为基础,搭建了实车试验平台。仿真结果表明,在两轮转向模式下,车辆的横向位置偏差在 11 s 内减小到 0 m,航向角偏差在约 11 s 内减小到 0 rad;而在四轮转向模式下,车辆的横向位置偏差在 8 s 内减小到 0 m,航向角偏差在 8 s 内减小到 0 rad。实地测试结果表明,在 3 km/h 的速度下,喷雾器在两轮转向模式下 5.84 s 内跟踪目标路径并达到稳定,在四轮转向模式下 4.08 s 内跟踪目标路径并达到稳定;而在 5 km/h 的速度下,喷雾器在四轮转向模式下 3.75 s 内跟踪目标路径并达到稳定。总之,模拟和实地测试的结果验证了该系统的稳定性、准确性和实用性。
Design and verification of automatic navigation control system for large high clearance self-propelled sprayer
An automatic navigation system aiming at improving the accuracy and efficiency of a large high clearance self-propelled sprayer was developed. First, a navigation hydraulic steering system was designed according to the structural characteristics and operation requirements of the sprayer, and a mathematical model of the system was established to describe the working characteristics of the navigation system. The system includes a navigation control strategy, a pure pursuit path tracking algorithm, and a fuzzy adaptive proportional-integral-derivative control method. To verify the performance of the system, a simulation model was developed using MATLAB/Simulink, and the performance of the control methods were compared. Additionally, an actual vehicle test platform was built based on 3WPG-3000 high clearance self-propelled sprayer independently developed by the research group. The simulation results revealed that under the two-wheel steering mode, the lateral position deviation of the vehicle decreases to 0 m in 11 s, and the heading angle deviation decreases to 0 rad in about 11 s; while under four-wheel steering mode, the lateral position deviation of the vehicle decreases to 0 m in 8 s, and the heading angle deviation decreases to 0 rad in 8 s. The field test results revealed that at the speed of 3 km/h, the sprayer tracked the target path in 5.84 s under the two-wheel steering mode and reached stability, and tracked the target path in 4.08 s under the four-wheel steering mode and reached stability; while at the speed of 5 km/h, the spray tracked the target path in 3.75 s under the four-wheel steering mode and reached stability. Altogether, the results of the simulation and field test verify the stability, accuracy, and practicability of the system.
期刊介绍:
The Journal of Automobile Engineering is an established, high quality multi-disciplinary journal which publishes the very best peer-reviewed science and engineering in the field.