Model-following control system four-wheel steering farm vehicle (Part 1) - development of positional servo systems to control front and rear wheel angle

摘要

To construct Model-following control system of a vehicle movement for improving handling and stability, positional servo systems that control front and rear wheel angle must be built as minor loops. So, a hydraulic piston pomp and a hydraulic cylinder were equipped to a farm vehicle to steer front and rear wheels by wire. To take uncertainty of plant into consideration, feedback controllers for front and rear wheel angles were designed by using H{sub}∞ control. In step response experiments, the results show that the front and the rear wheel angle reached to each reference within 0.5s and 0.3s, respectively. In running experiments on tilled and puddled paddy field, the results show that following performance of these positional servo systems was desirable.