CN108535031A - A kind of agricultural load wagon steering correction system and method - Google Patents
A kind of agricultural load wagon steering correction system and method Download PDFInfo
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- CN108535031A CN108535031A CN201810310454.7A CN201810310454A CN108535031A CN 108535031 A CN108535031 A CN 108535031A CN 201810310454 A CN201810310454 A CN 201810310454A CN 108535031 A CN108535031 A CN 108535031A
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/06—Steering behaviour; Rolling behaviour
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Abstract
The present invention relates to a kind of agricultural load wagon steering correction system and methods, include the following steps：1）Receive input signal；2）According to the input signal received, the excessive instantaneous value of obvious deviation is filtered out；3）After filtering out the excessive instantaneous value of obvious deviation, skip distance is calculated；4）Steering dead area compensation is carried out according to determining skip distance, to be corrected to the agricultural load wagon steering.The present invention can be integrated by many kinds of parameters, accurately determine dead zone, carry out stablizing verification agricultural vehicle steering verification.
Description
Technical field
The invention belongs to agricultural vehicle steering technique field, more particularly to a kind of agricultural load wagon steering correction system and side
Method.
Background technology
In the prior art, agri-vehicle needs repeatability to carry out steering operation repeatedly, when carrying out agricultural operation, faces
Landform is often irregular, however, the agricultural vehicles such as agricultural load wagon are frequently encountered course changing control, there are one with practical control
Fixed difference, this species diversity leads to agricultural vehicle in use, control is not accurate enough, especially after repetitive operation, this species diversity meeting
Change, over time, this species diversity can increase, cause operator operate agricultural vehicle when it is very laborious, therefore, to user with
Operational greatly inconvenient property is carried out.When serious, it is likely to result in safety problem.
Apply for content
To solve above-mentioned technical problem：The application proposes a kind of agricultural load wagon steering correction method, includes the following steps：
1）Receive input signal；
2）According to the input signal received, the excessive instantaneous value of obvious deviation is filtered out；
3）After filtering out the excessive instantaneous value of obvious deviation, skip distance is calculated；
4）Steering dead area compensation is carried out according to determining skip distance, to be corrected to the agricultural load wagon steering.
The agricultural load wagon steering correction method, the step 3）In specifically include：
S11）It controls agricultural load wagon and turns to maximum value to first direction, repeat n times, measure and record specific turn turned to every time
To angle, n is the natural number more than or equal to 2；
The wherein maximum value turned to is chosen as the first standard value, calculates first standard value and other n-1 times steering angle
The first difference, seek the average value S1 of first difference；
S12）By the first timing module, it is measured and recorded in the first time T1 for redirecting to maximum value on first direction every time；
The average time T1av of the first time T1, first standard value divided by the average time T1av are calculated, obtains first
Reference speed V1；
S13）It controls agricultural reprinting vehicle and turns to any one angle for being less than maximum value to first direction, Repeated m time is measured and recorded
What is turned to every time turns particularly to angle, and m is the natural number more than or equal to 2；
The m average value for turning particularly to angle is calculated, chooses and is used as the second standard value, calculates second standard value and other m-
Second difference of 1 steering angle calculates the average value S2 of the second difference with the absolute value of the second difference；
S14 it) by the second timing module, is measured and recorded in and redirect to the of any one angle on first direction every time
Two time T2；The average time T2av of the second time T2, second standard value divided by the average time T2av are calculated,
Obtain two reference speed V2；
S15）The first skip distance L1 is calculated,。
The agricultural load wagon steering correction method, the step 3）In specifically include：S21）Control agricultural load wagon
Maximum value is turned to second direction, repeats n times, measures and record the angle that turns particularly to turned to every time, n is more than or equal to 2
Natural number；
The wherein maximum value turned to is chosen as third standard value, calculates the third standard value and other n-1 times steering angle
Third difference, seek the average value S3 of the third difference；
S22）By third timing module, it is measured and recorded in the third time T3 for redirecting to maximum value in second direction every time；
The average time T3av of the third time T3, the third standard value divided by the average time T3av are calculated, third is obtained
Reference speed V1；
S23）It controls agricultural reprinting vehicle and turns to any one angle for being less than maximum value to second direction, Repeated m time is measured and recorded
What is turned to every time turns particularly to angle, and m is the natural number more than or equal to 2；
The m average value for turning particularly to angle is calculated, chooses and is used as the 4th standard value, calculates the 4th standard value and other m-
4th difference of 1 steering angle calculates the average value S4 of the 4th difference with the absolute value of the 4th difference；
S24 it) by the 4th timing module, is measured and recorded in and redirect to the of any one angle in second direction every time
Four time T4；The average time T4av of the 4th time T4, the 4th standard value divided by the average time T4av are calculated,
Obtain four reference speed V4；
S25）The second skip distance L2 is calculated,。
The agricultural load wagon steering correction method calculates the first skip distance L1's and the second skip distance L2
Difference judges whether the difference is more than the first preset difference value threshold value when the difference is more than zero, if it is greater than described first
The difference divided by 2 are obtained the first dead zone deviation by preset difference value threshold value, calculate dead band value, i.e., first dead zone is wide
Degree L1 subtracts first dead zone deviation, and the second skip distance L2 adds first dead zone deviation, and storage is above-mentioned
Dead band value；When the difference is equal to zero, the identical value of the first skip distance L1 and the second skip distance L2 are stored；
When the difference is less than zero, judge whether the difference is less than the second preset difference value threshold value, it is default if it is less than described second
The difference divided by 2 are obtained the second dead zone deviation, calculate dead band value, i.e., by the first skip distance L1 by difference threshold
Second dead zone deviation is subtracted, the second skip distance L2 adds second dead zone deviation, stores above-mentioned dead zone
Value.
The dead band value of above-mentioned storage is sent to controller, the control by the agricultural load wagon steering correction method
Device carries out steering dead area compensation according to the dead band value received, and calculates the dead area compensation time.
The agricultural load wagon steering correction method, the controller are compensated by optimal control algorithm controlling dead error,
On the basis of intrinsic optimal PD control device determines parameter adjustment, two kinds of control structures of integer rank PD and fractional order PD are introduced,
Controlling model is：
Wherein, y is lateral deviation, and u is inputted in order to control, that is, the dead band value stored, Gc (s) functions in order to control,For the letter that is delayed
Number.
The agricultural load wagon steering correction method, the reception input signal specifically include：User is received to turn
To corrective command, the touch signal of user is received by touch display screen or receives the steering school by remote user terminals
Positive order.
The agricultural load wagon steering correction method, the input signal that the basis receives filter out obvious deviation mistake
Big instantaneous value specifically includes：Input signal is received, multiple course changing control is carried out, judges whether the steering for same position deposits
Obviously exceed the steering of normal value, if it is present filtering out this time turns to data, supplements primary turn to.
A kind of agricultural load wagon steering correction system includes the agricultural load wagon steering correction as described in above-mentioned any one
Method specifically includes：Controller, angular transducer, timing module, driver, feedback detector；The angular transducer and meter
When module by the angle of detection and the time tranfer of calculating to controller, the controller, which calculates, turns to dead zone, and production dead zone is mended
Control signal is repaid, and is sent to driver, the agricultural load wagon steering correction, feedback detector detection dead zone is driven to mend
The steering correction repaid feeds back to the controller.
The agricultural load wagon steering correction system, the controller include：Position computation module, mean value calculation mould
Block, dead zone computing module, output control module；The timing module includes the first, second, third, fourth timing module；
The position computation module controls agricultural load wagon and turns to maximum value to first direction, repeats n times, measures and records every time
What is turned to turns particularly to angle, and n is the natural number more than or equal to 2；
The wherein maximum value turned to is chosen as the first standard value, calculates first standard value and other n-1 times steering angle
The first difference, the mean value calculation module seeks the average value S1 of first difference；
First timing module is measured and recorded in the first time T1 for redirecting to maximum value on first direction every time；It calculates
The average time T1av of the first time T1, first standard value divided by the average time T1av, obtain the first benchmark
Speed V1；
The position computation module controls agricultural reprinting vehicle and turns to any one angle for being less than maximum value, Repeated m to first direction
It is secondary, the angle that turns particularly to turned to every time is measured and records, m is the natural number more than or equal to 2；
The m average value for turning particularly to angle is calculated, chooses and is used as the second standard value, calculates second standard value and other m-
Second difference of 1 steering angle, the mean value calculation module calculate being averaged for the second difference with the absolute value of the second difference
Value S2；
Second timing module is measured and recorded in the second time for redirecting to any one angle on first direction every time
T2；The average time T2av of the second time T2, second standard value divided by the average time T2av are calculated, obtains two
Reference speed V2；The dead zone computing module calculates the first skip distance L1, 。
The controller can be carried out in second direction such as same dead-space correction control on first direction.
The application can integrate the parameter of multiple agricultural load wagons, carry out dead zone detection, convenient accurately to carry out dead area compensation,
Meanwhile, it is capable to for comprehensive analysis is carried out in different steerings, prevents dead zone on different directions not reciprocity, consider both direction
On dead zone is identical and different value, carry out the correction of both direction, effectively accurate dead zone in control both direction.It is promoted agricultural
Load wagon accurately turns to.
Description of the drawings
Fig. 1 is the agricultural load wagon steering correction method schematic diagram of the present invention.
Fig. 2 is the agricultural load wagon steering correction system schematic of the present invention.
Specific implementation mode
The application is described in further detail below in conjunction with the accompanying drawings, it is necessary to it is indicated herein to be, implement in detail below
Mode is served only for that the application is further detailed, and should not be understood as the limitation to the application protection domain, the field
Technical staff can make some nonessential modifications and adaptations according to above-mentioned application content to the application.
As shown in Figure 1, for the agricultural load wagon steering correction method schematic diagram of the present invention, include the following steps：
1）Receive input signal；
2）According to the input signal received, the excessive instantaneous value of obvious deviation is filtered out；
3）After filtering out the excessive instantaneous value of obvious deviation, skip distance is calculated；
4）Steering dead area compensation is carried out according to determining skip distance, to be corrected to the agricultural load wagon steering.
The agricultural load wagon steering correction method, the step 3）In specifically include：
S11）It controls agricultural load wagon and turns to maximum value to first direction, repeat n times, measure and record specific turn turned to every time
To angle, n is the natural number more than or equal to 2；
The wherein maximum value turned to is chosen as the first standard value, calculates first standard value and other n-1 times steering angle
The first difference, seek the average value S1 of first difference；
S12）By the first timing module, it is measured and recorded in the first time T1 for redirecting to maximum value on first direction every time；
The average time T1av of the first time T1, first standard value divided by the average time T1av are calculated, obtains first
Reference speed V1；
S13）It controls agricultural reprinting vehicle and turns to any one angle for being less than maximum value to first direction, Repeated m time is measured and recorded
What is turned to every time turns particularly to angle, and m is the natural number more than or equal to 2；
The m average value for turning particularly to angle is calculated, chooses and is used as the second standard value, calculates second standard value and other m-
Second difference of 1 steering angle calculates the average value S2 of the second difference with the absolute value of the second difference；
S14 it) by the second timing module, is measured and recorded in and redirect to the of any one angle on first direction every time
Two time T2；The average time T2av of the second time T2, second standard value divided by the average time T2av are calculated,
Obtain two reference speed V2；
S15）The first skip distance L1 is calculated, 。
The agricultural load wagon steering correction method, the step 3）In specifically include：S21）Control agricultural load wagon
Maximum value is turned to second direction, repeats n times, measures and record the angle that turns particularly to turned to every time, n is more than or equal to 2
Natural number；
The wherein maximum value turned to is chosen as third standard value, calculates the third standard value and other n-1 times steering angle
Third difference, seek the average value S3 of the third difference；
S22）By third timing module, it is measured and recorded in the third time T3 for redirecting to maximum value in second direction every time；
The average time T3av of the third time T3, the third standard value divided by the average time T3av are calculated, third is obtained
Reference speed V1；
S23）It controls agricultural reprinting vehicle and turns to any one angle for being less than maximum value to second direction, Repeated m time is measured and recorded
What is turned to every time turns particularly to angle, and m is the natural number more than or equal to 2；
The m average value for turning particularly to angle is calculated, chooses and is used as the 4th standard value, calculates the 4th standard value and other m-
4th difference of 1 steering angle calculates the average value S4 of the 4th difference with the absolute value of the 4th difference；
S24 it) by the 4th timing module, is measured and recorded in and redirect to the of any one angle in second direction every time
Four time T4；The average time T4av of the 4th time T4, the 4th standard value divided by the average time T4av are calculated,
Obtain four reference speed V4；
S25）The second skip distance L2 is calculated, 。
The agricultural load wagon steering correction method calculates the first skip distance L1's and the second skip distance L2
Difference judges whether the difference is more than the first preset difference value threshold value when the difference is more than zero, if it is greater than described first
The difference divided by 2 are obtained the first dead zone deviation by preset difference value threshold value, calculate dead band value, i.e., first dead zone is wide
Degree L1 subtracts first dead zone deviation, and the second skip distance L2 adds first dead zone deviation, and storage is above-mentioned
Dead band value；When the difference is equal to zero, the identical value of the first skip distance L1 and the second skip distance L2 are stored；
When the difference is less than zero, judge whether the difference is less than the second preset difference value threshold value, it is default if it is less than described second
The difference divided by 2 are obtained the second dead zone deviation, calculate dead band value, i.e., by the first skip distance L1 by difference threshold
Second dead zone deviation is subtracted, the second skip distance L2 adds second dead zone deviation, stores above-mentioned dead zone
Value.
The dead band value of above-mentioned storage is sent to controller, the control by the agricultural load wagon steering correction method
Device carries out steering dead area compensation according to the dead band value received, and calculates the dead area compensation time.
The agricultural load wagon steering correction method, the controller are compensated by optimal control algorithm controlling dead error,
On the basis of intrinsic optimal PD control device determines parameter adjustment, two kinds of control structures of integer rank PD and fractional order PD are introduced,
Controlling model is：
Wherein, y is lateral deviation, and u is inputted in order to control, that is, the dead band value stored, Gc (s) functions in order to control,For the letter that is delayed
Number.
The agricultural load wagon steering correction method, the reception input signal specifically include：User is received to turn
To corrective command, the touch signal of user is received by touch display screen or receives the steering school by remote user terminals
Positive order.
The agricultural load wagon steering correction method, the input signal that the basis receives filter out obvious deviation mistake
Big instantaneous value specifically includes：Input signal is received, multiple course changing control is carried out, judges whether the steering for same position deposits
Obviously exceed the steering of normal value, if it is present filtering out this time turns to data, supplements primary turn to.
As shown in Fig. 2, for the agricultural load wagon steering correction method schematic diagram of the present invention, including as described in above-mentioned any one
Agricultural load wagon steering correction method, specifically include：Controller, angular transducer, timing module, driver, feedback detection
Device；The angular transducer and timing module are by the angle of detection and the time tranfer of calculating to controller, the controller meter
It calculates and turns to dead zone, production dead area compensation controls signal, and is sent to driver, drives the agricultural load wagon steering correction, institute
The steering correction for stating feedback detector detection dead area compensation, feeds back to the controller.
The agricultural load wagon steering correction system, the controller include：Position computation module, mean value calculation mould
Block, dead zone computing module, output control module；The timing module includes the first, second, third, fourth timing module；
The position computation module controls agricultural load wagon and turns to maximum value to first direction, repeats n times, measures and records every time
What is turned to turns particularly to angle, and n is the natural number more than or equal to 2；
The wherein maximum value turned to is chosen as the first standard value, calculates first standard value and other n-1 times steering angle
The first difference, the mean value calculation module seeks the average value S1 of first difference；
First timing module is measured and recorded in the first time T1 for redirecting to maximum value on first direction every time；It calculates
The average time T1av of the first time T1, first standard value divided by the average time T1av, obtain the first benchmark
Speed V1；
The position computation module controls agricultural reprinting vehicle and turns to any one angle for being less than maximum value, Repeated m to first direction
It is secondary, the angle that turns particularly to turned to every time is measured and records, m is the natural number more than or equal to 2；
The m average value for turning particularly to angle is calculated, chooses and is used as the second standard value, calculates second standard value and other m-
Second difference of 1 steering angle, the mean value calculation module calculate being averaged for the second difference with the absolute value of the second difference
Value S2；
Second timing module is measured and recorded in the second time for redirecting to any one angle on first direction every time
T2；The average time T2av of the second time T2, second standard value divided by the average time T2av are calculated, obtains two
Reference speed V2；The dead zone computing module calculates the first skip distance L1,。
The controller can be carried out in second direction such as same dead-space correction control on first direction.The position meter
It calculates module and controls agricultural load wagon and turn to maximum value to second direction, repeat n times, measure and record turning particularly to of turning to every time
Angle, n are the natural number more than or equal to 2；
The wherein maximum value turned to is chosen as third standard value, calculates the third standard value and other n-1 times steering angle
Third difference, the mean value calculation module seeks the average value S3 of the third difference；
The third timing module is measured and recorded in the third time T3 for redirecting to maximum value in second direction every time；It calculates
The average time T3av of the third time T3, the third standard value divided by the average time T3av, obtain third benchmark
Speed V1；
The position computation module controls agricultural reprinting vehicle and turns to any one angle for being less than maximum value, Repeated m to second direction
It is secondary, the angle that turns particularly to turned to every time is measured and records, m is the natural number more than or equal to 2；
The m average value for turning particularly to angle is calculated, chooses and is used as the 4th standard value, calculates the 4th standard value and other m-
4th difference of 1 steering angle, the mean value calculation module calculate being averaged for the 4th difference with the absolute value of the 4th difference
Value S4；
Four timing module is measured and recorded in the 4th time for redirecting to any one angle in second direction every time
T4；The average time T4av of the 4th time T4, the 4th standard value divided by the average time T4av are calculated, obtains four
Reference speed V4；
The dead zone computing module calculates the second skip distance L2, 。
The output control module calculates the difference of the first skip distance L1 and the second skip distance L2, when the difference
When value is more than zero, judge whether the difference is more than the first preset difference value threshold value, if it is greater than the first preset difference value threshold value,
The difference divided by 2 are obtained into the first dead zone deviation, calculate dead band value, i.e., the first skip distance L1 is subtracted described the
One dead zone deviation, the second skip distance L2 add first dead zone deviation, store above-mentioned dead band value；When the difference
When value is equal to zero, the identical value of the first skip distance L1 and the second skip distance L2 are stored；When the difference is less than
When zero, judge whether the difference is less than the second preset difference value threshold value, it, will be described if it is less than the second preset difference value threshold value
It difference divided by 2 obtains the second dead zone deviation, calculates dead band value, i.e., the first skip distance L1 is subtracted into second dead zone
Deviation, the second skip distance L2 adds second dead zone deviation, stores above-mentioned dead band value, defeated by optimum control
Go out to control signal, the dead band value based on above-mentioned storage controls steering correction.
The application can integrate the parameter of multiple agricultural load wagons, carry out dead zone detection, convenient accurately to carry out dead area compensation,
Meanwhile, it is capable to for comprehensive analysis is carried out in different steerings, prevents dead zone on different directions not reciprocity, consider both direction
On dead zone is identical and different value, carry out the correction of both direction, effectively accurate dead zone in control both direction.It is promoted agricultural
Load wagon accurately turns to.The present invention can reduce the skip distance of agricultural vehicle, promote simple operation of the user to agricultural vehicle, carry
The security performance of high agricultural vehicle.This system can be attached to the autonomous system either integrated installation of agricultural vehicle in agricultural vehicle
Correction system, user can achieve the purpose that the multiple agricultural vehicles of correction, save by autonomous system for correcting different agricultural vehicles
Use cost.The system can be controlled by remote control terminal, it is easy to operate.
Claims (10)
1. a kind of agricultural load wagon steering correction method, which is characterized in that include the following steps：
1）Receive input signal；
2）According to the input signal received, the excessive instantaneous value of obvious deviation is filtered out；
3）After filtering out the excessive instantaneous value of obvious deviation, skip distance is calculated；
4）Steering dead area compensation is carried out according to determining skip distance, to be corrected to the agricultural load wagon steering.
2. agricultural load wagon steering correction method as described in claim 1, it is characterised in that：The step 3）In specifically wrap
It includes：
S11）It controls agricultural load wagon and turns to maximum value to first direction, repeat n times, measure and record specific turn turned to every time
To angle, n is the natural number more than or equal to 2；
The wherein maximum value turned to is chosen as the first standard value, calculates first standard value and other n-1 times steering angle
The first difference, seek the average value S1 of first difference；
S12）By the first timing module, it is measured and recorded in the first time T1 for redirecting to maximum value on first direction every time；
The average time T1av of the first time T1, first standard value divided by the average time T1av are calculated, obtains first
Reference speed V1；
S13）It controls agricultural reprinting vehicle and turns to any one angle for being less than maximum value to first direction, Repeated m time is measured and recorded
What is turned to every time turns particularly to angle, and m is the natural number more than or equal to 2；
The m average value for turning particularly to angle is calculated, chooses and is used as the second standard value, calculates second standard value and other m-
Second difference of 1 steering angle calculates the average value S2 of the second difference with the absolute value of the second difference；
S14 it) by the second timing module, is measured and recorded in and redirect to the of any one angle on first direction every time
Two time T2；The average time T2av of the second time T2, second standard value divided by the average time T2av are calculated,
Obtain two reference speed V2；
S15）The first skip distance L1 is calculated,。
3. agricultural load wagon steering correction method as claimed in claim 2, it is characterised in that：The step 3）In specifically wrap
It includes：S21）It controls agricultural load wagon and turns to maximum value to second direction, repeat n times, measure and record specific turn turned to every time
To angle, n is the natural number more than or equal to 2；
The wherein maximum value turned to is chosen as third standard value, calculates the third standard value and other n-1 times steering angle
Third difference, seek the average value S3 of the third difference；
S22）By third timing module, it is measured and recorded in the third time T3 for redirecting to maximum value in second direction every time；
The average time T3av of the third time T3, the third standard value divided by the average time T3av are calculated, third is obtained
Reference speed V1；
S23）It controls agricultural reprinting vehicle and turns to any one angle for being less than maximum value to second direction, Repeated m time is measured and recorded
What is turned to every time turns particularly to angle, and m is the natural number more than or equal to 2；
The m average value for turning particularly to angle is calculated, chooses and is used as the 4th standard value, calculates the 4th standard value and other m-
4th difference of 1 steering angle calculates the average value S4 of the 4th difference with the absolute value of the 4th difference；
S24 it) by the 4th timing module, is measured and recorded in and redirect to the of any one angle in second direction every time
Four time T4；The average time T4av of the 4th time T4, the 4th standard value divided by the average time T4av are calculated,
Obtain four reference speed V4；
S25）The second skip distance L2 is calculated, 。
4. agricultural load wagon steering correction method as claimed in claim 3, it is characterised in that：Calculate first skip distance
The difference of L1 and the second skip distance L2 judge whether the difference is more than the first preset difference value when the difference is more than zero
The difference divided by 2 are obtained the first dead zone deviation, calculate dead zone by threshold value if it is greater than the first preset difference value threshold value
The first skip distance L1 is subtracted first dead zone deviation by value, the second skip distance L2 is plus described the
One dead zone deviation, stores above-mentioned dead band value；When the difference is equal to zero, the first skip distance L1 and described the are stored
The identical value of two skip distance L2；When the difference is less than zero, judge whether the difference is less than the second preset difference value threshold value,
If it is less than the second preset difference value threshold value, the difference divided by 2 are obtained into the second dead zone deviation, calculate dead band value, i.e.,
The first skip distance L1 is subtracted into second dead zone deviation, the second skip distance L2 adds second dead zone
Deviation stores above-mentioned dead band value.
5. agricultural load wagon steering correction method as claimed in claim 4, it is characterised in that：The dead band value of above-mentioned storage is sent out
It is sent to controller, the controller carries out steering dead area compensation according to the dead band value received, and calculates the dead area compensation time.
6. agricultural load wagon steering correction method as claimed in claim 5, it is characterised in that：The controller passes through optimal control
Algorithm controlling dead error compensation processed introduces integer rank PD and score on the basis of intrinsic optimal PD control device determines parameter adjustment
Two kinds of control structures of rank PD, Controlling model are：
Wherein, y is lateral deviation, and u is inputted in order to control, that is, the dead band value stored, Gc (s) functions in order to control,For the letter that is delayed
Number.
7. agricultural load wagon steering correction method as described in claim 1, it is characterised in that：The reception input signal is specific
Including：It receives user and carries out steering correction order, the touch signal of user is received by touch display screen or by remotely using
Family terminal receives the steering correction order.
8. agricultural load wagon steering correction method as described in claim 1, it is characterised in that：The input that the basis receives
Signal filters out the excessive instantaneous value of obvious deviation and specifically includes：Input signal is received, multiple course changing control is carried out, judges to be directed to
The steering of same position exceeds the steering of normal value with the presence or absence of apparent, if it is present filtering out this time turns to data, supplement one
Secondary steering.
9. a kind of agricultural load wagon steering correction system, which is characterized in that include the agriculture as described in claim 1-8 any one
With load wagon steering correction method, specifically include：Controller, angular transducer, timing module, driver, feedback detector；Institute
Angular transducer and timing module are stated by the angle of detection and the time tranfer of calculating to controller, the controller, which calculates, to be turned to
Dead zone, production dead area compensation controls signal, and is sent to driver, drives the agricultural load wagon steering correction, the feedback
Detector detects the steering correction of dead area compensation, feeds back to the controller.
10. agricultural load wagon steering correction system as claimed in claim 9, which is characterized in that the controller includes：Position
Computing module, mean value calculation module, dead zone computing module, output control module；The timing module include first, second,
Third, the 4th timing module；
The position computation module controls agricultural load wagon and turns to maximum value to first direction, repeats n times, measures and records every time
What is turned to turns particularly to angle, and n is the natural number more than or equal to 2；
The wherein maximum value turned to is chosen as the first standard value, calculates first standard value and other n-1 times steering angle
The first difference, the mean value calculation module seeks the average value S1 of first difference；
First timing module is measured and recorded in the first time T1 for redirecting to maximum value on first direction every time；It calculates
The average time T1av of the first time T1, first standard value divided by the average time T1av, obtain the first benchmark
Speed V1；
The position computation module controls agricultural reprinting vehicle and turns to any one angle for being less than maximum value, Repeated m to first direction
It is secondary, the angle that turns particularly to turned to every time is measured and records, m is the natural number more than or equal to 2；
The m average value for turning particularly to angle is calculated, chooses and is used as the second standard value, calculates second standard value and other m-
Second difference of 1 steering angle, the mean value calculation module calculate being averaged for the second difference with the absolute value of the second difference
Value S2；
Second timing module is measured and recorded in the second time for redirecting to any one angle on first direction every time
T2；The average time T2av of the second time T2, second standard value divided by the average time T2av are calculated, obtains two
Reference speed V2；
The dead zone computing module calculates the first skip distance L1, 。
Priority Applications (1)
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112598748A (en) * | 2020-11-24 | 2021-04-02 | 深兰人工智能(深圳)有限公司 | Calibration method and device for steering dead zone value of articulated vehicle and electronic equipment |
| CN113063386A (en) * | 2021-03-22 | 2021-07-02 | 大连创新零部件制造公司 | Angle measuring method of EPS system angle sensor |
| CN114721375A (en) * | 2022-03-14 | 2022-07-08 | 常州江苏大学工程技术研究院 | Agricultural machinery single-antenna navigation path tracking method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112598748A (en) * | 2020-11-24 | 2021-04-02 | 深兰人工智能(深圳)有限公司 | Calibration method and device for steering dead zone value of articulated vehicle and electronic equipment |
| CN113063386A (en) * | 2021-03-22 | 2021-07-02 | 大连创新零部件制造公司 | Angle measuring method of EPS system angle sensor |
| CN113063386B (en) * | 2021-03-22 | 2022-09-30 | 大连创新零部件制造公司 | Angle measuring method of EPS system angle sensor |
| CN114721375A (en) * | 2022-03-14 | 2022-07-08 | 常州江苏大学工程技术研究院 | Agricultural machinery single-antenna navigation path tracking method |
| CN114721375B (en) * | 2022-03-14 | 2024-03-26 | 常州江苏大学工程技术研究院 | Agricultural machinery single antenna navigation path tracking method |
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| CN108535031B (en) | 2020-08-14 |
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