Design and optimization of an automatic hydraulic steer-by-wire system for an agricultural chassis
Keywords:
optimal design, steering mechanism, automatic steering, simulation analysisAbstract
To meet the requirements of fast steering at low vehicle speed and slow steering at high vehicle speed, the automatic steering of agricultural chassis must control both the wheel steering angle and the steering angle’s angular speed. This study applied hydraulic steer-by-wire technology to the automatic steering control of agricultural chassis. First, the transmission mechanism of the designed steering system was optimized. According to the rule of least squares, aiming at the minimum sum of squares of errors between 10 ideal outer wheel angles and real outer wheel angles, the optimal solution of hole spacing on both sides of the steering hydraulic cylinder piston rod was 925 mm. The outer wheel angle error of the optimized steering mechanism throughout the steering stroke was less than 0.15°. Additionally, a hydraulic steer-by-wire system was developed, and the parameters of its critical components were calculated. Then, the compound control strategy of the steering cylinder piston rod displacement and moving speed was formulated for this automatic steering system. The entire control system included a valve control signal calculation model, an initial velocity calculation model, a correction velocity calculation model, and an attenuation velocity calculation model, and the formulae of each model were deduced. Based on the optimized parameters and the developed control strategy, a simulation model was built in AMESim, and simulation results showed that the proposed control strategy could achieve simultaneous controls of piston rod displacement and speed at different vehicle speeds and loads. The horizontal and vertical displacements of the right wheel center were plotted for typical vehicle speeds and steering commands. The results of this study provided a new idea for the application of hydraulic steer-by-wire technology in the automatic steering of agricultural chassis. Keywords: optimal design, steering mechanism, automatic steering, simulation analysis DOI: 10.25165/j.ijabe.20221501.6755 Citation: Jin Y H, Yuan Y W, Zhu L C, Wang D C, Zhao B, Fang X F. Design and optimization of an automatic hydraulic steer-by-wire system for an agricultural chassis. Int J Agric & Biol Eng, 2022; 15(1): 132–138.References
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[2] Wang H, Noguchi N. Adaptive turning control for an agricultural robot tractor. Int J Agric & Biol Eng, 2018; 11(6): 113–119.
[3] Gat G, Gan-Mor S, Degani A. Stable and robust vehicle steering control using an overhead guide in greenhouse tasks. Comput Electron Agric, 2016; 121: 234–244.
[4] Wang J, Zhu Y T, Chen Z B, Yang L L, Wu C C. Auto-steering based precise coordination method for in-field multi-operation of farm machinery. Int J Agric & Biol Eng, 2018; 11(5): 174–181.
[5] Lu Z X, Diao X Y, Gong J H, Wu J G, Zhong W J. Assessment and characteristic of road-feeling for wheeled tractor hydraulic steer-by-wire system. Transactions of the CSAE, 2015; 31(12): 57–63. (in Chinese)
[6] Liu J Y, Tan J Q, Mao E R, Song Z H, Zhu Z X. Proportional directional valve based automatic steering system for tractors. Front Inform Technol & Elect Eng, 2016; 17(5): 458–464.
[7] Daher N, Ivantysynova M. Yaw stability control of articulated frame off-highway vehicles via displacement controlled steer-by-wire. Control Eng Practice, 2015; 45: 46–53.
[8] Zhang G Q, Zhu S H, Li W H, Chen X Q, Chen Q. Simulation and experiment of steering by wire system of large wheel tractor with hinge swing link. Transactions of the CSAM, 2014; 45(2): 28–33. (in Chinese)
[9] Zong C F, Li G, Zheng H Y, He G, Zhang Z X. Study progress and outlook of chassis control technology for x-by-wire automobile. China Journal of Highway and Transport, 2013; 26(2): 160–176. (in Chinese)
[10] Wang X Y, Yang J, Quan L, Zhang X G, Wang J. A novel high-efficiency wheel loader power steering system with fault-tolerant capability. IEEE Trans Veh Technol, 2018; 67(10): 9273–9283.
[11] Wu X D, Li W Q. Variable steering ratio control of steer-by-wire vehicle to improve handling performance. Proc Inst Mech Eng Part D-J Automob Eng, 2020; 234(2): 774–782.
[12] Bai Y H, Quan L. Control strategy of the electro-hydraulic position and speed hybrid servo system. Journal of Mechanical Engineering, 2010; 46(24): 150–155.
[13] Sleesongsom S, Bureerat S. Multiobjective optimization of a steering linkage. J Mech Sci & Technol, 2016; 30: 3681–3691.
[14] Meng G Y, Sheng K M, Huang J X, Meng X, Shi Y X. Optimal design on steering mechanism for crossing and variable wheel-track vehicles. Chinese Journal of Construction Machinery, 2016; 14(6): 504–507. (in Chinese)
[15] Ren W T, Chi D X, Liu J B, Wei D Y, Yu X Z, Che Z. Design and test on remote rice transplanter automatic steering system. Transactions of the CSAM, 2012; 43(1): 175–179. (in Chinese)
[16] Yin X, Liu G H, Yang T X, Jin C Q. Development of an automatic steering system for a rice transplanter. Journal of Agricultural Mechanization Research, 2019; 41(1): 153–157. (in Chinese)
[17] Yin X, Du J, Noguchi N, Yang T X, Jin C Q. Development of autonomous navigation system for rice transplanter. Int J Agric & Biol Eng, 2018; 11(6): 89–94.
[18] Lu Z X, Gong J H, Lu Y, Diao X Y, Cheng Z, Jiang C X, et al. Simulation and experiment of dual channel PID control for hydraulic steer-by-wire system of tractor. Transactions of the CASE, 2016; 32(6): 101–106. (in Chinese)
[19] Fang S S, Lu Z X, Wang Z C, Diao X Y, Lu Y, Gong J H, et al. Design and prototype performance experiments of steering-by-wire hydraulic pressure system of tractor. Transactions of the CASE, 2017; 33(10): 86–93. (in Chinese)
[20] Zong C F, Han Y D, He L, Wang X. Research on variable angle transmission ratio characteristics for automobile with SBW. China Journal of Highway and Transport, 2015; 28(9): 115–120. (in Chinese)
[21] Liu P Y, Wang Z J, Li H T, Song Y J, Wei W J, Zhang S Y. Design of steering mechanism with adjustable wheel track. Journal of Agricultural Mechanization Research, 2015; 46(6): 44–48, 120. (in Chinese)
[22] Jiang L B, Liu J X, Cheng C. Optimization design of mining dump truck steering mechanism based on orthogonal test. China Mechanical Engineering, 2013; 24(15): 2036–2041. (in Chinese)
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Published
2022-02-26
How to Cite
Jin, Y., Yuan, Y., Zhu, L., Wang, D., Zhao, B., & Fang, X. (2022). Design and optimization of an automatic hydraulic steer-by-wire system for an agricultural chassis. International Journal of Agricultural and Biological Engineering, 15(1), 132–138. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/6755
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Power and Machinery Systems
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