Abstract/Details

Investigation of roll angle feed-forward control and look-ahead functions to improve automatic guidance on sloped terrain


2007 2007

Other formats: Order a copy

Abstract (summary)

As agricultural automatic guidance systems are further developed, greater attention is being given to their performance under all reasonable conditions including the side slopes of hills. To investigate the potential of improving auto-guidance performance using feed-forward control with expected vehicle roll angle acquired from a slope path profile, a PID navigation controller was simulated along with tractor and tire models. There were four main steps to the simulation process: (1) The development of the gains for a roll angle feed-forward controller, (2) Evaluation of the controller as it responded to both step and sinusoidal slope profiles, (3) Investigation of the effects of different vehicle velocities and changes in cornering stiffness compared to nominal values, and (4) Determination if looking-ahead into the slope increases roll angle performance. Use of a roll angle feed-forward controller reduced the maximum off-tracking distance by up to 87 percent. For the sinusoidal slope profiles, increased velocity had a negligible effect on off-tracking error. Using a look-ahead distance of 2 m for future estimates of roll angle reduced the off-tracking distance by up to 50%. When compared to the nominal values, increasing or decreasing the tire cornering stiffness adversely affected the off-tracking error for the given vehicle model.

Indexing (details)


Subject
Agricultural engineering
Classification
0539: Agricultural engineering
Identifier / keyword
Applied sciences
Title
Investigation of roll angle feed-forward control and look-ahead functions to improve automatic guidance on sloped terrain
Author
Bosserd, James Addison, II
Number of pages
117
Publication year
2007
Degree date
2007
School code
0097
Source
MAI 45/05M, Masters Abstracts International
Place of publication
Ann Arbor
Country of publication
United States
Advisor
Steward, Brian L.
University/institution
Iowa State University
University location
United States -- Iowa
Degree
M.S.
Source type
Dissertations & Theses
Language
English
Document type
Dissertation/Thesis
Dissertation/thesis number
1443146
ProQuest document ID
304856922
Copyright
Database copyright ProQuest LLC; ProQuest does not claim copyright in the individual underlying works.
Document URL
http://search.proquest.com/docview/304856922
Access the complete full text

You can get the full text of this document if it is part of your institution's ProQuest subscription.

Try one of the following:

  • Connect to ProQuest through your library network and search for the document from there.
  • Request the document from your library.
  • Go to the ProQuest login page and enter a ProQuest or My Research username / password.