| 摘要 |
PROBLEM TO BE SOLVED: To solve problems that control delay of azimuth occurs due to slip of an agricultural vehicle, vehicle azimuth control is unstable, and an expensive and highly reliable angular velocity meter must be used. SOLUTION: A vehicle azimuth angleψ<SB>1</SB>detected by an azimuth sensor 1, a steering angleθdetected by a steering angle meter 2, and vehicle speed V detected by a speed meter 3 are supplied to a arithmetic processing part 5. In the arithmetic processing part 5, a difference between target azimuth angleψ<SB>2</SB>and the vehicle azimuth angleψ<SB>1</SB>is taken, and a value Q obtained by multiplying the difference by azimuth difference gain K<SB>1</SB>, Q=(ψ<SB>2</SB>-ψ<SB>1</SB>)K<SB>1</SB>is computed. Moreover, pseudoangular speedω<SB>p</SB>=θV is obtained from the steering angleθand the vehicle speed V. A steering part 4 controls vehicle movement by responding to steering command of a control loop, R=Q-ω<SB>p</SB>. In this control loop, feedback control is preformed by the pseudoangular speedω<SB>p</SB>obtained from the steering angleθand the vehicle speed V so that there is no delay until angular speed of the vehicle is actually generated after giving the steering angleθto wheels to quicken response of azimuth control of the vehicle. Moreover, it is possible to dispense with the expensive angular velocity meter. COPYRIGHT: (C)2003,JPO |
