Open and Closed Loop System Characteristics of a Tractor and an Implement Dynamic Model

dc.contributor.author Karkee, Manoj
dc.contributor.author Steward, Brian
dc.contributor.author Steward, Brian
dc.contributor.department Agricultural and Biosystems Engineering
dc.date 2018-02-13T03:36:39.000
dc.date.accessioned 2020-06-29T22:34:05Z
dc.date.available 2020-06-29T22:34:05Z
dc.date.copyright Tue Jan 01 00:00:00 UTC 2008
dc.date.embargo 2012-12-03
dc.date.issued 2008-06-01
dc.description.abstract <p>Accurate guidance of towed implements is important for performing agricultural field operations and for gaining the ultimate benefit from an agricultural automatic guidance system. The study of open and closed loop system responses can be helpful in the design of practical guidance controllers. A dynamic model of a tractor and a towed implement system was developed. Open loop analysis of the kinematic and dynamic models revealed that the dynamic model was essential for capturing the higher order dynamics of the tractor and implement system at higher operating velocities. In addition, a higher fidelity dynamic model was also developed by incorporating steering dynamics and tire relaxation length dynamics. Closed loop system characteristics were studied by using a linear quadratic regulator (LQR) controller. The tractor position and heading and implement heading states along with respective rate states were fed back to close the loop. The higher fidelity closed loop system used a practical range of steering angles and rates to keep the response within nominal off-road vehicle guidance controller design specifications in the forward velocity range of 0.5 m/s to 10 m/s (1.8 km/h to 36 km/h). These simulation studies provided understanding about the characteristics of the tractor and towed implement system and showed promise in assisting in the development of automatic guidance controllers.</p>
dc.description.comments <p><a href="http://elibrary.asabe.org/abstract.asp?aid=25208&t=3&dabs=Y&redir=&redirType=" target="_blank">ASABE Paper No. 084761</a></p>
dc.identifier archive/lib.dr.iastate.edu/abe_eng_conf/40/
dc.identifier.articleid 1039
dc.identifier.contextkey 3507206
dc.identifier.s3bucket isulib-bepress-aws-west
dc.identifier.submissionpath abe_eng_conf/40
dc.identifier.uri https://dr.lib.iastate.edu/handle/20.500.12876/428
dc.language.iso en
dc.source.bitstream archive/lib.dr.iastate.edu/abe_eng_conf/40/Steward_2008_OpenClosedLoop.pdf|||Sat Jan 15 00:06:40 UTC 2022
dc.subject.disciplines Bioresource and Agricultural Engineering
dc.subject.keywords dynamic vehicle model
dc.subject.keywords implement guidance
dc.subject.keywords automatic guidance
dc.subject.keywords LQR design
dc.subject.keywords relaxation length
dc.title Open and Closed Loop System Characteristics of a Tractor and an Implement Dynamic Model
dc.type article
dc.type.genre conference
dspace.entity.type Publication
relation.isAuthorOfPublication ef71fa01-eb3e-4e29-ade7-bcb38f2968b0
relation.isOrgUnitOfPublication 8eb24241-0d92-4baf-ae75-08f716d30801
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