Improvement of Working Quality of Trailing Implements by Hitching Position Control
通过挂接位置控制提高牵引机具的工作质量
基本信息
- 批准号:18380146
- 负责人:
- 金额:$ 6.69万
- 依托单位:
- 依托单位国家:日本
- 项目类别:Grant-in-Aid for Scientific Research (B)
- 财政年份:2006
- 资助国家:日本
- 起止时间:2006 至 2007
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
Objectives of this research are to realize easier driving and autonomous traveling in skill requested driving of trailers. There are two main problems in trailer driving. The first is the tendency observed frequently the trailer run inside than a tractor, this phenomenon is widely known as "off tracking". The second problem is the motion of trailer becomes unstable in backing up maneuver in the sense of control To solve these problems, in this study novel approach to reduce or eliminate the off tracking of trailer by controlling the hitching position of the trailer by using hydraulic cylinders. Firstly the required offset of hitching position from the center of the mechanism for elimination of off tracking has been calculated from the geometrical relations. As a result, the off tracking can be eliminated up to the certain steering angle of the tractor determined by geometrical constraints, but above the limit, off tracking appeared, and increased with steering angle of tractor, the finally the system became uncontrollable when the steering and of the tractor exceeded the limit. But, the off tracking reduction performance was found to be almost equal that of wheel steering method proposed in previous researches. Then the experimental hitching position controller was constructed, and verification experimental was conducted. It confirmed by the experiments that off tracking was lesser than 5cm in testing conditions. Following this research, control theory for backing up of trailer was investigated. In this study, we designed the traveling path as a curve expressed by the polynomial function on the polar coordinates. It has been verified by simulation studies involving simulated error that the trailer could be navigated accurately and safety when the path equation was used with locally linearized feedback controller designed by optimal control theory.
本研究的目的是实现更容易驾驶和自主行驶的拖车的技能要求的驾驶。拖车驾驶有两个主要问题。第一种是经常观察到的拖车比拖拉机内部运行的趋势,这种现象被广泛称为“偏离跟踪”。第二个问题是拖车的运动变得不稳定,在备份操作的控制意义上,为了解决这些问题,在这项研究中,新的方法来减少或消除拖车的跑偏,通过控制拖车的挂接位置,通过使用液压缸。首先根据几何关系计算出消除跑偏所需的挂接位置距机构中心的偏移量。结果表明,在由几何约束确定的一定的拖拉机转向角范围内,跟踪偏离可以消除,但超过此范围,跟踪偏离就会出现,并随着拖拉机转向角的增大而增大,当拖拉机转向角超过此范围时,系统将变得不可控。但是,偏离跟踪减少性能被发现几乎等于在以前的研究中提出的车轮转向方法。在此基础上,构建了实验挂接位置控制器,并进行了验证实验。实验证实,在测试条件下,跟踪偏差小于5cm。在此基础上,对挂车倒车控制理论进行了研究。在这项研究中,我们设计了一个由多项式函数在极坐标表示的曲线的旅行路径。仿真结果表明,采用最优控制理论设计的局部线性化反馈控制器,可以使拖车安全、准确地行驶。
项目成果
期刊论文数量(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Control of Reverse Movement of a Trailer on the Polar Coordnates
极坐标上拖车反向运动的控制
- DOI:
- 发表时间:2006
- 期刊:
- 影响因子:0
- 作者:Takigawa;T.;A.Wanrat;P.Jyunyusen;et al.
- 通讯作者:et al.
Control of Reverse Movement of a Trailer on the Polar Coordinates
极坐标上拖车反向运动的控制
- DOI:
- 发表时间:2007
- 期刊:
- 影响因子:0
- 作者:Takigawa;T.;A.Wanrat;P.Jyunyusen;et al.;Takigawa Tomohiro
- 通讯作者:Takigawa Tomohiro
Development of Hitching Position Control and Its Application
挂接位置控制的发展及其应用
- DOI:
- 发表时间:2006
- 期刊:
- 影响因子:0
- 作者:Takigawa;T.;T.Honma;Q.Zhang;T.Ahamed;P.Jyunusen;M.Koike
- 通讯作者:M.Koike
Automatic Hitching of Farm Implement with an Autonomous Tractor
自动挂接农具与自主拖拉机
- DOI:
- 发表时间:2006
- 期刊:
- 影响因子:0
- 作者:Takigawa;T.;A.Wanrat;P.Jyunyusen;et al.;Takigawa Tomohiro;Takigawa Tomohiro
- 通讯作者:Takigawa Tomohiro
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TAKIGAWA Tomohiro其他文献
TAKIGAWA Tomohiro的其他文献
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{{ truncateString('TAKIGAWA Tomohiro', 18)}}的其他基金
Development of Agricultural Human Interface by Vehicle Motion Database and Skill Acquisition
通过车辆运动数据库和技能获取开发农业人机界面
- 批准号:
21380153 - 财政年份:2009
- 资助金额:
$ 6.69万 - 项目类别:
Grant-in-Aid for Scientific Research (B)
Development of autonomous vehicles equipped with handling devises
开发配备处理装置的自动驾驶车辆
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12460109 - 财政年份:2000
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$ 6.69万 - 项目类别:
Grant-in-Aid for Scientific Research (B)
Research on a working station for autonomous bio-production robots
自主生物生产机器人工作站的研究
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09460113 - 财政年份:1997
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$ 6.69万 - 项目类别:
Grant-in-Aid for Scientific Research (B)
Research on Robotized Front Loaders for Agricultural Tractors
农用拖拉机机器人前端装载机研究
- 批准号:
06660312 - 财政年份:1994
- 资助金额:
$ 6.69万 - 项目类别:
Grant-in-Aid for General Scientific Research (C)
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