Open AccessAdditional Yaw Moment Control of a 4WIS and 4WID Agricultural Data Acquisition Vehicle
Author(s) -
Dawei Jiang,
Li Danhua,
Sanzhou Wang,
Lei Tian,
Liangcheng Yang
Publication year - 2015
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/60688
Subject(s) - yaw , computer science , moment (physics) , steering wheel , control theory (sociology) , stability (learning theory) , trajectory , electronic stability control , control system , euler angles , path (computing) , automotive engineering , simulation , control (management) , engineering , mathematics , artificial intelligence , physics , geometry , electrical engineering , classical mechanics , astronomy , machine learning , programming language
A four-wheel independent steering (4WIS) and a four-wheel independent driving (4WID) agricultural data acquisition vehicle (ADAV) system was designed to monitor and manage the growing status of bio-energy crops. To avoid destroying crops, a changeable wheel gauge and high-clearance design was employed, which brought new problems to the ADAV system: reduced path-following precision and driving stability. Given the dynamic characteristics of the ADAV system, an additional yaw moment control (AYC) system was designed to achieve high path-following precision and stability of the ADAV system. Using the input steering wheel angle and driving speed, the desired yaw rate and sideslip angle were calculated. The difference between the desired and actual yaw rate and that between the desired and actual sideslip angle were employed as feedbacks to obtain an additional yaw moment executed on the ADAV system in real time. The effectiveness of the AYC system was verified in field tests. Experimental results show that the actual yaw rate, sideslip angle and path trajectory were close to the desired ones. Therefore, the stability and path-following accuracy of the ADAV system were improved