عنوان مجله
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Journal of Agricultural Science and Technology B
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کلیدواژهها
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Row crop cultivator, yaw rate, servo valve, servo cylinder, cascade controller
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چکیده
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This paper presents the automatic guidance system of an agricultural tractor and the side shift control of the attached row
crop cultivator using electro-hydraulic actuators. In order to simulate the dynamic behaviour of the tractor along with the attached
cultivator, the modified bicycle model was adopted. Steering angle sensor, fibre optic gyroscope (FOG) and RTK-DGPS
technologies are assumed for measurements of the steering angle, yaw rate and the lateral position of the tractor, respectively. The
kinematics model was used for the implement. In this study four cascade controllers were designed and simulated for tractor
guidance which consists of PD, PD, P and PID controllers. Other PI and PID controllers also had been designed for implement side
shifting purpose. Then, these two systems were combined and the performance of the whole system was evaluated through the
simulation results. According to the results tractor reaches the desired path after less than 10 seconds. Simulations showed that the
maximum deviation of the tractor from the desired path was about 5 cm within this period. And the cultivator blades would follow
the predetermined path with steady state error of about 5 cm too
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