Research Article
PID Controller of Sprayer Chassis by Sliding Mode
Table 1
Simulation parameters of straight line drive coordinated control of sprayer chassis.
| | Parameters | Value |
| | Chassis mass /kg | 540 | | Chassis spring mass /kg | 460 | | Roll moment of inertia /(kg·m2) | 350 | | Pitching moment of inertia /(kg⋅m2) | 730 | | Yaw moment of inertia /(kg⋅m2) | 640 | | Damping coefficient of front suspension | 1000 | | Damping coefficient of rear suspension | 1000 | | Wheel centroid height /m | 0.3 | | Distance from front axle to the centroid /m | 0.75 | | Distance from rear axle to the centroid /m | 0.75 | | Wheel moment of inertia /(kg⋅m2) | 1.8 | | Wheel distance /m | 1.2 | | Front suspension spring stiffness /(N⋅m−1) | 12000 | | Rear suspension spring stiffness /(N⋅m−1) | 12000 | | Longitudinal and transverse friction coefficient of tire | 0.1, 0.9 | | Centroid height of chassis spring mass /m | 1.2 |
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