Application of Electrohydraulic Proportional Valve for Steering Improvement of an Autonomous Tractor
Purpose The most common solution to achieving automated steering in an agricultural tractor is the use of electric motors along with conventional manual steering systems called an electric power steering (EPS) system. However, EPS systems have limited use in automated tractor steering requiring fast...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Lee, Changjoo [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2022 |
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| Schlagwörter: |
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| Anmerkung: |
© The Author(s), under exclusive licence to The Korean Society for Agricultural Machinery 2022 |
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| Übergeordnetes Werk: |
Enthalten in: Journal of Biosystems Engineering - Singapore : Springer Singapore, 2004, 47(2022), 2 vom: 11. Apr., Seite 167-180 |
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| Übergeordnetes Werk: |
volume:47 ; year:2022 ; number:2 ; day:11 ; month:04 ; pages:167-180 |
| Links: |
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| DOI / URN: |
10.1007/s42853-022-00137-x |
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| Katalog-ID: |
SPR047220457 |
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| 245 | 1 | 0 | |a Application of Electrohydraulic Proportional Valve for Steering Improvement of an Autonomous Tractor |
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| 520 | |a Purpose The most common solution to achieving automated steering in an agricultural tractor is the use of electric motors along with conventional manual steering systems called an electric power steering (EPS) system. However, EPS systems have limited use in automated tractor steering requiring fast and accurate responses. Another solution is to use the electrohydraulic proportional (EHPV) valve technology, but EHPV systems have highly nonlinear characteristics. The objective of this study is to develop an electrohydraulic (E/H) steering system that is applicable to a conventional steering circuit and to compare the performance with an EPS system. A proportional-feedforward control algorithm was implemented to effectively compensate for the nonlinear behaviors of EHPV systems. Methods A computer-controlled hardware-in-the-loop E/H steering simulator consisting of EPS and EHPV subsystems was designed and built to develop the steering control algorithms and to verify the feasibility of the developed steering controller. A field test was conducted using a real-time kinematic GPS-based autonomous tractor equipped with the developed E/H steering system and an EPS system as a control to compare and investigate their potentials. Results Compared with the EPS system, the use of the E/H steering system was shown to improve the tracking errors by about 29% and 50% for straight and curved paths at a speed of 2 km/h and about 85% for straight path at a speed of 5.5 km/h. Conclusions The proportional-feedforward steering controller is the feasible solution to controlling and reducing any nonlinear characteristics and is a suitable steering system for high-speed operations. | ||
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| 700 | 1 | |a Kim, Jung Hun |4 aut | |
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10.1007/s42853-022-00137-x doi (DE-627)SPR047220457 (SPR)s42853-022-00137-x-e DE-627 ger DE-627 rakwb eng Lee, Changjoo verfasserin aut Application of Electrohydraulic Proportional Valve for Steering Improvement of an Autonomous Tractor 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to The Korean Society for Agricultural Machinery 2022 Purpose The most common solution to achieving automated steering in an agricultural tractor is the use of electric motors along with conventional manual steering systems called an electric power steering (EPS) system. However, EPS systems have limited use in automated tractor steering requiring fast and accurate responses. Another solution is to use the electrohydraulic proportional (EHPV) valve technology, but EHPV systems have highly nonlinear characteristics. The objective of this study is to develop an electrohydraulic (E/H) steering system that is applicable to a conventional steering circuit and to compare the performance with an EPS system. A proportional-feedforward control algorithm was implemented to effectively compensate for the nonlinear behaviors of EHPV systems. Methods A computer-controlled hardware-in-the-loop E/H steering simulator consisting of EPS and EHPV subsystems was designed and built to develop the steering control algorithms and to verify the feasibility of the developed steering controller. A field test was conducted using a real-time kinematic GPS-based autonomous tractor equipped with the developed E/H steering system and an EPS system as a control to compare and investigate their potentials. Results Compared with the EPS system, the use of the E/H steering system was shown to improve the tracking errors by about 29% and 50% for straight and curved paths at a speed of 2 km/h and about 85% for straight path at a speed of 5.5 km/h. Conclusions The proportional-feedforward steering controller is the feasible solution to controlling and reducing any nonlinear characteristics and is a suitable steering system for high-speed operations. Autonomous tractor (dpeaa)DE-He213 Electrohydraulic (dpeaa)DE-He213 Hydrostatic valve (dpeaa)DE-He213 Hardware-in-the-loop simulator (dpeaa)DE-He213 Jeon, Chan-Woo aut Han, Xiongzhe aut Kim, Jung Hun aut Kim, Hak-Jin (orcid)0000-0001-6151-2446 aut Enthalten in Journal of Biosystems Engineering Singapore : Springer Singapore, 2004 47(2022), 2 vom: 11. Apr., Seite 167-180 (DE-627)166529633X (DE-600)2972001-1 2234-1862 nnns volume:47 year:2022 number:2 day:11 month:04 pages:167-180 https://dx.doi.org/10.1007/s42853-022-00137-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 47 2022 2 11 04 167-180 |
| spelling |
10.1007/s42853-022-00137-x doi (DE-627)SPR047220457 (SPR)s42853-022-00137-x-e DE-627 ger DE-627 rakwb eng Lee, Changjoo verfasserin aut Application of Electrohydraulic Proportional Valve for Steering Improvement of an Autonomous Tractor 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to The Korean Society for Agricultural Machinery 2022 Purpose The most common solution to achieving automated steering in an agricultural tractor is the use of electric motors along with conventional manual steering systems called an electric power steering (EPS) system. However, EPS systems have limited use in automated tractor steering requiring fast and accurate responses. Another solution is to use the electrohydraulic proportional (EHPV) valve technology, but EHPV systems have highly nonlinear characteristics. The objective of this study is to develop an electrohydraulic (E/H) steering system that is applicable to a conventional steering circuit and to compare the performance with an EPS system. A proportional-feedforward control algorithm was implemented to effectively compensate for the nonlinear behaviors of EHPV systems. Methods A computer-controlled hardware-in-the-loop E/H steering simulator consisting of EPS and EHPV subsystems was designed and built to develop the steering control algorithms and to verify the feasibility of the developed steering controller. A field test was conducted using a real-time kinematic GPS-based autonomous tractor equipped with the developed E/H steering system and an EPS system as a control to compare and investigate their potentials. Results Compared with the EPS system, the use of the E/H steering system was shown to improve the tracking errors by about 29% and 50% for straight and curved paths at a speed of 2 km/h and about 85% for straight path at a speed of 5.5 km/h. Conclusions The proportional-feedforward steering controller is the feasible solution to controlling and reducing any nonlinear characteristics and is a suitable steering system for high-speed operations. Autonomous tractor (dpeaa)DE-He213 Electrohydraulic (dpeaa)DE-He213 Hydrostatic valve (dpeaa)DE-He213 Hardware-in-the-loop simulator (dpeaa)DE-He213 Jeon, Chan-Woo aut Han, Xiongzhe aut Kim, Jung Hun aut Kim, Hak-Jin (orcid)0000-0001-6151-2446 aut Enthalten in Journal of Biosystems Engineering Singapore : Springer Singapore, 2004 47(2022), 2 vom: 11. Apr., Seite 167-180 (DE-627)166529633X (DE-600)2972001-1 2234-1862 nnns volume:47 year:2022 number:2 day:11 month:04 pages:167-180 https://dx.doi.org/10.1007/s42853-022-00137-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 47 2022 2 11 04 167-180 |
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10.1007/s42853-022-00137-x doi (DE-627)SPR047220457 (SPR)s42853-022-00137-x-e DE-627 ger DE-627 rakwb eng Lee, Changjoo verfasserin aut Application of Electrohydraulic Proportional Valve for Steering Improvement of an Autonomous Tractor 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to The Korean Society for Agricultural Machinery 2022 Purpose The most common solution to achieving automated steering in an agricultural tractor is the use of electric motors along with conventional manual steering systems called an electric power steering (EPS) system. However, EPS systems have limited use in automated tractor steering requiring fast and accurate responses. Another solution is to use the electrohydraulic proportional (EHPV) valve technology, but EHPV systems have highly nonlinear characteristics. The objective of this study is to develop an electrohydraulic (E/H) steering system that is applicable to a conventional steering circuit and to compare the performance with an EPS system. A proportional-feedforward control algorithm was implemented to effectively compensate for the nonlinear behaviors of EHPV systems. Methods A computer-controlled hardware-in-the-loop E/H steering simulator consisting of EPS and EHPV subsystems was designed and built to develop the steering control algorithms and to verify the feasibility of the developed steering controller. A field test was conducted using a real-time kinematic GPS-based autonomous tractor equipped with the developed E/H steering system and an EPS system as a control to compare and investigate their potentials. Results Compared with the EPS system, the use of the E/H steering system was shown to improve the tracking errors by about 29% and 50% for straight and curved paths at a speed of 2 km/h and about 85% for straight path at a speed of 5.5 km/h. Conclusions The proportional-feedforward steering controller is the feasible solution to controlling and reducing any nonlinear characteristics and is a suitable steering system for high-speed operations. Autonomous tractor (dpeaa)DE-He213 Electrohydraulic (dpeaa)DE-He213 Hydrostatic valve (dpeaa)DE-He213 Hardware-in-the-loop simulator (dpeaa)DE-He213 Jeon, Chan-Woo aut Han, Xiongzhe aut Kim, Jung Hun aut Kim, Hak-Jin (orcid)0000-0001-6151-2446 aut Enthalten in Journal of Biosystems Engineering Singapore : Springer Singapore, 2004 47(2022), 2 vom: 11. Apr., Seite 167-180 (DE-627)166529633X (DE-600)2972001-1 2234-1862 nnns volume:47 year:2022 number:2 day:11 month:04 pages:167-180 https://dx.doi.org/10.1007/s42853-022-00137-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 47 2022 2 11 04 167-180 |
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10.1007/s42853-022-00137-x doi (DE-627)SPR047220457 (SPR)s42853-022-00137-x-e DE-627 ger DE-627 rakwb eng Lee, Changjoo verfasserin aut Application of Electrohydraulic Proportional Valve for Steering Improvement of an Autonomous Tractor 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to The Korean Society for Agricultural Machinery 2022 Purpose The most common solution to achieving automated steering in an agricultural tractor is the use of electric motors along with conventional manual steering systems called an electric power steering (EPS) system. However, EPS systems have limited use in automated tractor steering requiring fast and accurate responses. Another solution is to use the electrohydraulic proportional (EHPV) valve technology, but EHPV systems have highly nonlinear characteristics. The objective of this study is to develop an electrohydraulic (E/H) steering system that is applicable to a conventional steering circuit and to compare the performance with an EPS system. A proportional-feedforward control algorithm was implemented to effectively compensate for the nonlinear behaviors of EHPV systems. Methods A computer-controlled hardware-in-the-loop E/H steering simulator consisting of EPS and EHPV subsystems was designed and built to develop the steering control algorithms and to verify the feasibility of the developed steering controller. A field test was conducted using a real-time kinematic GPS-based autonomous tractor equipped with the developed E/H steering system and an EPS system as a control to compare and investigate their potentials. Results Compared with the EPS system, the use of the E/H steering system was shown to improve the tracking errors by about 29% and 50% for straight and curved paths at a speed of 2 km/h and about 85% for straight path at a speed of 5.5 km/h. Conclusions The proportional-feedforward steering controller is the feasible solution to controlling and reducing any nonlinear characteristics and is a suitable steering system for high-speed operations. Autonomous tractor (dpeaa)DE-He213 Electrohydraulic (dpeaa)DE-He213 Hydrostatic valve (dpeaa)DE-He213 Hardware-in-the-loop simulator (dpeaa)DE-He213 Jeon, Chan-Woo aut Han, Xiongzhe aut Kim, Jung Hun aut Kim, Hak-Jin (orcid)0000-0001-6151-2446 aut Enthalten in Journal of Biosystems Engineering Singapore : Springer Singapore, 2004 47(2022), 2 vom: 11. Apr., Seite 167-180 (DE-627)166529633X (DE-600)2972001-1 2234-1862 nnns volume:47 year:2022 number:2 day:11 month:04 pages:167-180 https://dx.doi.org/10.1007/s42853-022-00137-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 47 2022 2 11 04 167-180 |
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10.1007/s42853-022-00137-x doi (DE-627)SPR047220457 (SPR)s42853-022-00137-x-e DE-627 ger DE-627 rakwb eng Lee, Changjoo verfasserin aut Application of Electrohydraulic Proportional Valve for Steering Improvement of an Autonomous Tractor 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to The Korean Society for Agricultural Machinery 2022 Purpose The most common solution to achieving automated steering in an agricultural tractor is the use of electric motors along with conventional manual steering systems called an electric power steering (EPS) system. However, EPS systems have limited use in automated tractor steering requiring fast and accurate responses. Another solution is to use the electrohydraulic proportional (EHPV) valve technology, but EHPV systems have highly nonlinear characteristics. The objective of this study is to develop an electrohydraulic (E/H) steering system that is applicable to a conventional steering circuit and to compare the performance with an EPS system. A proportional-feedforward control algorithm was implemented to effectively compensate for the nonlinear behaviors of EHPV systems. Methods A computer-controlled hardware-in-the-loop E/H steering simulator consisting of EPS and EHPV subsystems was designed and built to develop the steering control algorithms and to verify the feasibility of the developed steering controller. A field test was conducted using a real-time kinematic GPS-based autonomous tractor equipped with the developed E/H steering system and an EPS system as a control to compare and investigate their potentials. Results Compared with the EPS system, the use of the E/H steering system was shown to improve the tracking errors by about 29% and 50% for straight and curved paths at a speed of 2 km/h and about 85% for straight path at a speed of 5.5 km/h. Conclusions The proportional-feedforward steering controller is the feasible solution to controlling and reducing any nonlinear characteristics and is a suitable steering system for high-speed operations. Autonomous tractor (dpeaa)DE-He213 Electrohydraulic (dpeaa)DE-He213 Hydrostatic valve (dpeaa)DE-He213 Hardware-in-the-loop simulator (dpeaa)DE-He213 Jeon, Chan-Woo aut Han, Xiongzhe aut Kim, Jung Hun aut Kim, Hak-Jin (orcid)0000-0001-6151-2446 aut Enthalten in Journal of Biosystems Engineering Singapore : Springer Singapore, 2004 47(2022), 2 vom: 11. Apr., Seite 167-180 (DE-627)166529633X (DE-600)2972001-1 2234-1862 nnns volume:47 year:2022 number:2 day:11 month:04 pages:167-180 https://dx.doi.org/10.1007/s42853-022-00137-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 47 2022 2 11 04 167-180 |
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Enthalten in Journal of Biosystems Engineering 47(2022), 2 vom: 11. Apr., Seite 167-180 volume:47 year:2022 number:2 day:11 month:04 pages:167-180 |
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Lee, Changjoo @@aut@@ Jeon, Chan-Woo @@aut@@ Han, Xiongzhe @@aut@@ Kim, Jung Hun @@aut@@ Kim, Hak-Jin @@aut@@ |
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However, EPS systems have limited use in automated tractor steering requiring fast and accurate responses. Another solution is to use the electrohydraulic proportional (EHPV) valve technology, but EHPV systems have highly nonlinear characteristics. The objective of this study is to develop an electrohydraulic (E/H) steering system that is applicable to a conventional steering circuit and to compare the performance with an EPS system. A proportional-feedforward control algorithm was implemented to effectively compensate for the nonlinear behaviors of EHPV systems. Methods A computer-controlled hardware-in-the-loop E/H steering simulator consisting of EPS and EHPV subsystems was designed and built to develop the steering control algorithms and to verify the feasibility of the developed steering controller. A field test was conducted using a real-time kinematic GPS-based autonomous tractor equipped with the developed E/H steering system and an EPS system as a control to compare and investigate their potentials. Results Compared with the EPS system, the use of the E/H steering system was shown to improve the tracking errors by about 29% and 50% for straight and curved paths at a speed of 2 km/h and about 85% for straight path at a speed of 5.5 km/h. Conclusions The proportional-feedforward steering controller is the feasible solution to controlling and reducing any nonlinear characteristics and is a suitable steering system for high-speed operations.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Autonomous tractor</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Electrohydraulic</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Hydrostatic valve</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Hardware-in-the-loop simulator</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Jeon, Chan-Woo</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Han, Xiongzhe</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Kim, Jung Hun</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Kim, Hak-Jin</subfield><subfield code="0">(orcid)0000-0001-6151-2446</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">Enthalten in</subfield><subfield code="t">Journal of Biosystems Engineering</subfield><subfield code="d">Singapore : Springer Singapore, 2004</subfield><subfield code="g">47(2022), 2 vom: 11. 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|
| author |
Lee, Changjoo |
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Lee, Changjoo misc Autonomous tractor misc Electrohydraulic misc Hydrostatic valve misc Hardware-in-the-loop simulator Application of Electrohydraulic Proportional Valve for Steering Improvement of an Autonomous Tractor |
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Lee, Changjoo |
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Application of Electrohydraulic Proportional Valve for Steering Improvement of an Autonomous Tractor Autonomous tractor (dpeaa)DE-He213 Electrohydraulic (dpeaa)DE-He213 Hydrostatic valve (dpeaa)DE-He213 Hardware-in-the-loop simulator (dpeaa)DE-He213 |
| topic |
misc Autonomous tractor misc Electrohydraulic misc Hydrostatic valve misc Hardware-in-the-loop simulator |
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misc Autonomous tractor misc Electrohydraulic misc Hydrostatic valve misc Hardware-in-the-loop simulator |
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misc Autonomous tractor misc Electrohydraulic misc Hydrostatic valve misc Hardware-in-the-loop simulator |
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Elektronische Aufsätze Aufsätze Elektronische Ressource |
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Journal of Biosystems Engineering |
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Application of Electrohydraulic Proportional Valve for Steering Improvement of an Autonomous Tractor |
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Application of Electrohydraulic Proportional Valve for Steering Improvement of an Autonomous Tractor |
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Lee, Changjoo |
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Journal of Biosystems Engineering |
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Journal of Biosystems Engineering |
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Lee, Changjoo Jeon, Chan-Woo Han, Xiongzhe Kim, Jung Hun Kim, Hak-Jin |
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Elektronische Aufsätze |
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Lee, Changjoo |
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10.1007/s42853-022-00137-x |
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| title_sort |
application of electrohydraulic proportional valve for steering improvement of an autonomous tractor |
| title_auth |
Application of Electrohydraulic Proportional Valve for Steering Improvement of an Autonomous Tractor |
| abstract |
Purpose The most common solution to achieving automated steering in an agricultural tractor is the use of electric motors along with conventional manual steering systems called an electric power steering (EPS) system. However, EPS systems have limited use in automated tractor steering requiring fast and accurate responses. Another solution is to use the electrohydraulic proportional (EHPV) valve technology, but EHPV systems have highly nonlinear characteristics. The objective of this study is to develop an electrohydraulic (E/H) steering system that is applicable to a conventional steering circuit and to compare the performance with an EPS system. A proportional-feedforward control algorithm was implemented to effectively compensate for the nonlinear behaviors of EHPV systems. Methods A computer-controlled hardware-in-the-loop E/H steering simulator consisting of EPS and EHPV subsystems was designed and built to develop the steering control algorithms and to verify the feasibility of the developed steering controller. A field test was conducted using a real-time kinematic GPS-based autonomous tractor equipped with the developed E/H steering system and an EPS system as a control to compare and investigate their potentials. Results Compared with the EPS system, the use of the E/H steering system was shown to improve the tracking errors by about 29% and 50% for straight and curved paths at a speed of 2 km/h and about 85% for straight path at a speed of 5.5 km/h. Conclusions The proportional-feedforward steering controller is the feasible solution to controlling and reducing any nonlinear characteristics and is a suitable steering system for high-speed operations. © The Author(s), under exclusive licence to The Korean Society for Agricultural Machinery 2022 |
| abstractGer |
Purpose The most common solution to achieving automated steering in an agricultural tractor is the use of electric motors along with conventional manual steering systems called an electric power steering (EPS) system. However, EPS systems have limited use in automated tractor steering requiring fast and accurate responses. Another solution is to use the electrohydraulic proportional (EHPV) valve technology, but EHPV systems have highly nonlinear characteristics. The objective of this study is to develop an electrohydraulic (E/H) steering system that is applicable to a conventional steering circuit and to compare the performance with an EPS system. A proportional-feedforward control algorithm was implemented to effectively compensate for the nonlinear behaviors of EHPV systems. Methods A computer-controlled hardware-in-the-loop E/H steering simulator consisting of EPS and EHPV subsystems was designed and built to develop the steering control algorithms and to verify the feasibility of the developed steering controller. A field test was conducted using a real-time kinematic GPS-based autonomous tractor equipped with the developed E/H steering system and an EPS system as a control to compare and investigate their potentials. Results Compared with the EPS system, the use of the E/H steering system was shown to improve the tracking errors by about 29% and 50% for straight and curved paths at a speed of 2 km/h and about 85% for straight path at a speed of 5.5 km/h. Conclusions The proportional-feedforward steering controller is the feasible solution to controlling and reducing any nonlinear characteristics and is a suitable steering system for high-speed operations. © The Author(s), under exclusive licence to The Korean Society for Agricultural Machinery 2022 |
| abstract_unstemmed |
Purpose The most common solution to achieving automated steering in an agricultural tractor is the use of electric motors along with conventional manual steering systems called an electric power steering (EPS) system. However, EPS systems have limited use in automated tractor steering requiring fast and accurate responses. Another solution is to use the electrohydraulic proportional (EHPV) valve technology, but EHPV systems have highly nonlinear characteristics. The objective of this study is to develop an electrohydraulic (E/H) steering system that is applicable to a conventional steering circuit and to compare the performance with an EPS system. A proportional-feedforward control algorithm was implemented to effectively compensate for the nonlinear behaviors of EHPV systems. Methods A computer-controlled hardware-in-the-loop E/H steering simulator consisting of EPS and EHPV subsystems was designed and built to develop the steering control algorithms and to verify the feasibility of the developed steering controller. A field test was conducted using a real-time kinematic GPS-based autonomous tractor equipped with the developed E/H steering system and an EPS system as a control to compare and investigate their potentials. Results Compared with the EPS system, the use of the E/H steering system was shown to improve the tracking errors by about 29% and 50% for straight and curved paths at a speed of 2 km/h and about 85% for straight path at a speed of 5.5 km/h. Conclusions The proportional-feedforward steering controller is the feasible solution to controlling and reducing any nonlinear characteristics and is a suitable steering system for high-speed operations. © The Author(s), under exclusive licence to The Korean Society for Agricultural Machinery 2022 |
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Application of Electrohydraulic Proportional Valve for Steering Improvement of an Autonomous Tractor |
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https://dx.doi.org/10.1007/s42853-022-00137-x |
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Jeon, Chan-Woo Han, Xiongzhe Kim, Jung Hun Kim, Hak-Jin |
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Jeon, Chan-Woo Han, Xiongzhe Kim, Jung Hun Kim, Hak-Jin |
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10.1007/s42853-022-00137-x |
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2024-07-04T02:21:35.274Z |
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However, EPS systems have limited use in automated tractor steering requiring fast and accurate responses. Another solution is to use the electrohydraulic proportional (EHPV) valve technology, but EHPV systems have highly nonlinear characteristics. The objective of this study is to develop an electrohydraulic (E/H) steering system that is applicable to a conventional steering circuit and to compare the performance with an EPS system. A proportional-feedforward control algorithm was implemented to effectively compensate for the nonlinear behaviors of EHPV systems. Methods A computer-controlled hardware-in-the-loop E/H steering simulator consisting of EPS and EHPV subsystems was designed and built to develop the steering control algorithms and to verify the feasibility of the developed steering controller. A field test was conducted using a real-time kinematic GPS-based autonomous tractor equipped with the developed E/H steering system and an EPS system as a control to compare and investigate their potentials. Results Compared with the EPS system, the use of the E/H steering system was shown to improve the tracking errors by about 29% and 50% for straight and curved paths at a speed of 2 km/h and about 85% for straight path at a speed of 5.5 km/h. 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| score |
7.4009047 |