【摘 要】
：
An electro-hydraulic steering controller was developed based on Dongfanghong-X804 tractor to realize autonomous navigation of agricultural machinery.The mak
【机 构】
：
Guangdong AIB Polytechnic College, Guangzhou, 510507, China
【出 处】
：
The Sixth Asian Conference on Precision Agriculture (第六届亚洲精准
论文部分内容阅读
An electro-hydraulic steering controller was developed based on Dongfanghong-X804 tractor to realize autonomous navigation of agricultural machinery.The make-up of the whole steering system, function of each sensor and the working principle are presented, among which their features are: using KMA199 sensor to measure steering angle and gyroscope integrated in ADIS16300 to measure angular rate.In order to realize servo control of steering system,electro-hydraulic valves, shift solenoid valve and relief valve are used as actuators for automatic steering.According to characteristic of the system nonlinear, a double closed-loop control algorithm for steering system was designed.Then the mathematical model of steering system was derived from the analysis of the force balance equation of the hydraulic cylinder, using Matlab System Identification Toolbox to estimate transfer function parameters.Finally, test result showed that the performance of steering control system was improved, which indicated that double closed-loop steering control algorithm on uneven field is appropriated to Dongfanghong X-804 tractor.
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