Model Recognition and Simulation of an E/H Steering Controller on Off-Road Equipment

Abstract

An automated E/H steering controller is essential for autonomous off-road equipment. This paper presents a methodology for designing the E/H steering controller through a combination of testing and simulation. The steering kinematic model provides the steering linkage gain between the hydraulic actuator and the front wheel. The model makes it possible to close the steering control loop based on the signal of the hydraulic steering actuator rather than the front wheel. Test results were used to identify the non-linear and dynamic characteristics of the original E/H steering system. A Matlab model of E/H steering controller was developed based on the experimental test results.

Automatic steering control system model and simulation to analyze performance of off-road vehicles subject to sloped terrain and vehicle parameter changes

“…Precisely planted crop and accurately driven harvesting equipment leads to an increase in crop yield by reducing operator error and fatigue [6,8,13]. A successful guidance system yields desirable response on different terrains and for a variety of vehicle parameters, such as weight, speed, and center of gravity (CG) position [7].…”