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Title:
ELECTRIC STEERING WHEEL BASED CONTROL METHOD FOR AUTOMATIC DRIVING OF AGRICULTURAL MACHINERY
Document Type and Number:
WIPO Patent Application WO/2019/192117
Kind Code:
A1
Abstract:
Provided in the present invention is an electric steering wheel based control method for automatic driving of agricultural machinery, comprising the following steps: step (1): outputting a steering angle instruction by a navigation controller; step (2): a first steering controller performing PD control by steering angle feedback of a front wheel, and outputting a control instruction to a second steering controller; and step (3): the second steering controller performing PD control by rotational speed feedback of a steering wheel, and outputting a control instruction to the electric steering wheel. The inner ring of the present invention uses PD control based on steering wheel rotational speed feedback, the outer ring uses PD control based on vehicle wheel rotational angle feedback, and while improving the response speed of the steering control system, also has relatively high precision and robustness.

Inventors:
ZHANG, Xiaofei (ZHAO, LuBuilding C, 599 Gaojing Road, Qingpu District, Shanghai 2, 201702, CN)
SHEN, Xuefeng (ZHAO, LuBuilding C, 599 Gaojing Road, Qingpu District, Shanghai 2, 201702, CN)
LI, Zaoling (ZHAO, LuBuilding C, 599 Gaojing Road, Qingpu District, Shanghai 2, 201702, CN)
CHE, Xianghui (ZHAO, LuBuilding C, 599 Gaojing Road, Qingpu District, Shanghai 2, 201702, CN)
XU, Enqiang (ZHAO, LuBuilding C, 599 Gaojing Road, Qingpu District, Shanghai 2, 201702, CN)
WANG, Chenggang (ZHAO, LuBuilding C, 599 Gaojing Road, Qingpu District, Shanghai 2, 201702, CN)
Application Number:
CN2018/099873
Publication Date:
October 10, 2019
Filing Date:
August 10, 2018
Export Citation:
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Assignee:
SHANGHAI HUACE NAVIGATION TECHNOLOGY LTD. (ZHAO, LuBuilding C, 599 Gaojing Road, Qingpu District, Shanghai, Shanghai 2, 201702, CN)
International Classes:
G05B11/42
Foreign References:
CN102320326A2012-01-18
CN103085858A2013-05-08
CN104477231A2015-04-01
US6895318B12005-05-17
Attorney, Agent or Firm:
SHANGHAI XUANYI PATENT OFFICE (GENERAL PARTNERSHIP) (LIU Jun, Room 610 Zhongxingcheng Building, No.7 Pubei Rord, Xuhui District, Shanghai 3, 200233, CN)
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