Design and Experiment of Dual-steering Control System Based on Active Disturbance Rejection Control

被引：0
|
作者：
Zhu L. [1 ,2 ]
Zhao Z. [1 ,2 ]
Han Z. [1 ,2 ]
Wang R. [1 ,2 ]
Zhou L. [1 ,2 ]
Zhao B. [2 ]
机构：
[1] Chinese Academy of Agricultural Mechanization Sciences Croup Co.,Ltd., Beijing
[2] National Key Laboratory of Agricultural Equipment Technology, Beijing
来源：
Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery | 2023年 / 54卷
关键词：
active disturbance rejection control; dual-steering; robot chassis;
D O I：
10.6041/j.issn.1000-1298.2023.S1.042
中图分类号：
学科分类号：
摘要：
To enhance the field turning efficiency of agricultural robot tractors, a dual-steering control system based on active disturbance rejection control was developed for the agricultural robot tractor. The system was designed to meet the agricultural technology requirements and driving environment. The composition and main technical parameters of the agricultural robot tractor were determined, and the hardware system was assembled, and the component selection was made. A 4-degree-of-freedom dynamics model of the agricultural robot tractor was established, and the state space equation of the turning efficiency was determined. A dual-steering control strategy based on active disturbance rejection control was proposed, and a Simulink dynamic simulation model was established, and the turning simulation was carried out. The simulation results indicated that the angular velocity of the active disturbance rejection dual-steering control model was 0.241 rad/s, the turning radius was 1.96 m, and the disturbance recovery time was 1.04 s. Compared with the Ackermann turning control model, the active disturbance rejection dual-steering control model had a larger angular velocity, smaller turning radius, and faster recovery time. The field experimental results showed that the average lateral displacement of the agricultural robot tractor was 18. 5 cm, the slip rate was 4. 84%, and the small-radius turning test showed that the turning radius of the double turning control agricultural robot tractor was reduced by about 0. 60 m and 0. 57 m compared with that of the Ackermann turning control, and the average turning time was reduced by 4.70 s and 3.41 s. In the large-radius turning test, the turning radius of the double turning control agricultural robot tractor was reduced by about 0. 52 m and 0. 49 m compared with that of the Ackermann turning control, and the average turning time was reduced by 10. 27 s and 8. 22 s. © 2023 Chinese Society of Agricultural Machinery. All rights reserved.
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页码：391 / 401
页数：10
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