Stability Study of Time Lag Disturbance in an Automatic Tractor Steering System Based on Sliding Mode Predictive Control

Hequan Miao, Peisong Diao (), Wenyan Yao, Shaochuan Li and Wenjun Wang
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Hequan Miao: School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255049, China
Peisong Diao: School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255049, China
Wenyan Yao: School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255049, China
Shaochuan Li: School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255049, China
Wenjun Wang: School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255049, China

Agriculture, 2022, vol. 12, issue 12, 1-22

Abstract: To improve the working accuracy and anti-interference capability of the steering operation of an automatic tractor, this paper investigates the tractor steering system. In response to the current problems of high steering resistance during tractor field operations and the low service life of the drive shaft of conventional electric steering wheel solutions, an electro-hydraulic coupled power-assisted solution combining EPS and HPS is proposed. The combination of the EPS system’s high control accuracy and sensitive steering operation and the hydraulic power system’s large steering torque greatly reduces the power of the power motor and battery performance requirements, optimizing the power transmission scheme to achieve green and energy-saving purposes. Secondly, the research is focused on the influence of external disturbances on the stability of the steering system during tractor operation, and a combination of model predictive control and sliding mode control is used to study the steering system control strategy. It is finally demonstrated through simulations and experiments that it can compensate for the disturbance of the system control parameters by external disturbances, has the ability of MPC to handle input constraints and maintains the advantages of SMC robustness.

Keywords: self-driving tractor; electric power steering; hydraulic power steering; electro-hydraulic coupling power steering system; sliding mode predictive control (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2022
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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