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Journal of Electrical and Computer Engineering
Volume 2018, Article ID 5617253, 7 pages
https://doi.org/10.1155/2018/5617253
Research Article

Development of Electrohydraulic Steering Control System for Tractor Automatic Navigation

1School of Mechanical and Automobile Engineering, Liaocheng University, Liaocheng 252059, China
2Shifeng Group Co., Ltd., Liaocheng 252800, China

Correspondence should be addressed to Chengqiang Yin; moc.361@qcyjths

Received 22 July 2017; Accepted 12 December 2017; Published 1 February 2018

Academic Editor: Jit S. Mandeep

Copyright © 2018 Chengqiang Yin et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

The most of tractors employed in agriculture are equipped with an electrohydraulic actuator to implement steering control to realize automatic navigation. Electrohydraulic steering system plays an important role in realizing accurate steering control for an automatic navigation tractor because of its complicated characteristics. The objective of this paper is to develop an electrohydraulic steering control system used for automatically guided agricultural tractors. As for the identified electrohydraulic steering system model, a modified Smith control structure was discussed. Based on the structure, an improved design method for voltage servo controller and disturbance rejection controller was proposed to enhance the performance of the steering control subsystem. The effectiveness and the superiority of the proposed method were verified by simulation under Matlab. Simulation results demonstrated the efficiency of the proposed method by showing fast response, control accuracy, and robust performance for the steering control system.