Agricultural vehicle independent navigation steering control method based on disturbance observer

Abstract

The invention discloses an agricultural vehicle independent navigation steering control method based on a disturbance observer, and belongs to the field of high-precision tracking control of agricultural vehicle independent navigation control. The method adopts a closed loop control mode, the practical lateral deviation of a vehicle is roughly calculated by an open loop, correction is carried out by a closed loop, an accumulative error is eliminated until accurate tracking is achieved, and a whole control cycle is achieved. In view of the diversification of an agricultural vehicle motion model, the adoptive control means are also changeable, a pole assignment mode is utilized to achieve an accuracy control over a three order linear and nonlinear model. According to the agricultural vehicle independent navigation steering control method based on the disturbance observer, the control effect, under the setting of the corresponding control means, of the agricultural vehicle motion control method can reach the fact that the overshoot is less than 5% and the adjustment time is less than 3 seconds, and tracking without a steady-state error can be finally achieved.

Description

technical field [0001] The invention belongs to the research field of intelligent path navigation and high-precision control of agricultural vehicles, and specifically relates to the design of a controller for intelligent navigation of agricultural vehicles and the design of an active anti-interference disturbance observer. Background technique [0002] The design of the intelligent navigation controller for agricultural vehicles can consider the multivariable, nonlinear, and time-varying characteristics of the system, and use various intelligent control schemes: including fuzzy algorithms, integer-order fractional-order PID algorithms, and further design the system. Specifically, an optimized control scheme can be proposed according to the characteristics of the system; in the process of autonomous navigation of agricultural vehicles, the structure and hardness of the soil, the uncertainty of random noise, the unevenness of the road surface, the change of the load torque of ...

AI Technical Summary

Problems solved by technology

This control strategy is obviously insufficient for the high precision, interference suppression ability, and robust stability required by the autonomous navigation control system of agricultural vehicles.

Images