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Agricultural machinery automatic driving system based on EPS and control method

A technology of automatic driving and agricultural machinery, applied in the direction of non-electric variable control, two-dimensional position/channel control, control/adjustment system, etc., can solve the problems of high cost, complicated hydraulic valve installation, complex automatic driving control algorithm, etc., to achieve Ease of installation and reduction of assembly cost

Active Publication Date: 2020-12-29
WUXI KALMAN NAVIGATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] Existing automatic driving systems for agricultural machinery that use hydraulic valves or torque motors as steering actuators have problems such as high cost, complex installation of hydraulic valves, special drive controllers for torque motors, and complex automatic driving control algorithms.

Method used

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  • Agricultural machinery automatic driving system based on EPS and control method
  • Agricultural machinery automatic driving system based on EPS and control method
  • Agricultural machinery automatic driving system based on EPS and control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0052] Embodiment 1 EPS-based agricultural machinery steering drive actuator

[0053] Such as figure 1 As shown, the front view of the installation of the EPS-based agricultural machinery automatic driving system, including the steering wheel (3) and the steering column (4) splines are assembled and fastened with the first nut (2), and the steering wheel (3) is covered with a steering wheel cover (1); the inner spline below the steering column (4) is installed into the outer spline above the EPS (6) and then fastened with the first hexagon socket head screw (5); the lower part of the EPS (6) is fixed on the first mounting plate (7) From the top, fix it with the second hexagon socket head cap screw (8) from the bottom of the first mounting plate (7); install the inner spline side of the adapter sleeve (9) on the spline below the EPS (6), and fix it with the set screw (10) Fasten; the oil pipe surface of the steering gear (14) is parallel to the flange surface of the second mou...

Embodiment 2

[0055] Embodiment 2 EPS-based agricultural machinery automatic driving system

[0056] Such as image 3 As shown, the EPS-based agricultural machinery automatic driving system includes: the EPS-based agricultural machinery steering drive actuator, ECU (Electronic Control Unit) controller, tablet computer, angle sensor, GNSS antenna, radio antenna, electric push rod Wait;

[0057] The EPS external connector is connected to the ECU controller using a connection harness,

[0058] The ECU controller is used to receive the information output by the tablet computer, and is generally installed in a place that is not easy to touch in the cockpit of the agricultural machinery. Its main function is to receive the position, speed, attitude information, angle sensor information, etc. output by the tablet computer. And cascaded PID control algorithm to get the control command, directly generate PWM wave to drive the EPS steering drive actuator, so that the agricultural machine can drive ...

Embodiment 3

[0064] Embodiment 3 EPS-based automatic driving control method for agricultural machinery

[0065] Such as Figure 4 As shown, the preview model plus cascaded PID forms a large feedback control loop, and its feedback control frequency is determined by the sensor of the autopilot measurement unit. Generally, the output frequency of GNSS navigation positioning and attitude measurement is 10Hz, so the control frequency of the large feedback control loop is 10Hz. Its input is the current state error such as lateral deviation and yaw, and the output is the tracking target angle.

[0066] At the same time, the second-level PID feedback control is to control the actuator (ie EPS), and adjust the EPS execution command in real time according to the current real-time angle information and the tracking target angle output by the large loop. Because the update frequency of the angle sensor is very high, the second-stage PID feedback control frequency is 50Hz. For automatic driving of a...

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Abstract

The invention discloses an agricultural machinery automatic driving system based on EPS and a control method, and belongs to the field of agricultural machinery automatic driving. The EPS is adopted to replace a traditional hydraulic valve or a torque motor to serve as a steering control execution mechanism, and an ECU controller, a tablet computer, an electric push rod and the like are adopted toform a set of complete agricultural machinery automatic driving system. Meanwhile, a tracking algorithm of preview and cascade PID is further provided, automatic driving of agricultural machinery isachieved, the control tracking algorithm is small in calculation amount, and the automatic driving precision and the algorithm robustness are good.

Description

technical field [0001] The invention belongs to the field of automatic driving of agricultural machinery, and relates to an automatic driving system and control method of agricultural machinery based on EPS (Electronic Power Steering). Background technique [0002] With the development of agricultural modernization and the increasing proportion of aging farmers, digital agriculture and precision agriculture have gradually become international research hotspots. In particular, the popularization of precision agriculture can free hands, improve work efficiency and land utilization, sow seeds and harvest in time, save inputs such as seeds and chemical fertilizers, and achieve the goals of reducing labor, reducing inputs, and increasing production. Precision agriculture is a new type of agricultural technology that combines modern information technology, biotechnology, agricultural science and technology and agricultural machinery engineering equipment technology. An important ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/03
CPCG05D1/0278
Inventor 朱龙泉周光陈向东程方王烁吴飞
Owner WUXI KALMAN NAVIGATION TECH CO LTD
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