This paper presents the system identification of a new model for the farm tractor’s yaw dynamics in order to improve automatic control at higher speeds and understand controller limitations from neglecting these dynamics. As speed increases, higher order models are required to maintain accurate lateral control of the vehicle. Neglecting these dynamics can cause the controller to become unstable at the bandwidths required for accurate control at higher speeds. The yaw dynamic model, which is found to be dominated by a second order response, is identified for multiple speeds to determine the effect of velocity on the model. The second order yaw dynamics cannot be represented by the traditional bicycle model. An analytical derivation shows that the model characteristics can, however, be captured by a model consisting of a significant (non-negligible) relaxation length in the front tire. Experimental results are presented showing that the new yaw dynamic model can provide lateral control of the tractor to within 4 cm (1σ) at speeds up to 8 m/s. These results are shown to be an improvement, at high speeds, over controllers based on models (such as a kinematic model) previously used for control of farm equipment.
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e-mail: dmbevly@eng.auburn.edu
e-mail: gerdes@cdr.stanford.edu
e-mail: brad@relgyro.stanford.edu
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December 2002
Technical Papers
A New Yaw Dynamic Model for Improved High Speed Control of a Farm Tractor
David M. Bevly,
e-mail: dmbevly@eng.auburn.edu
David M. Bevly
Department of Mechanical Engineering, Stanford University, Stanford, CA 94305
**
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J. Christian Gerdes,
e-mail: gerdes@cdr.stanford.edu
J. Christian Gerdes
Department of Mechanical Engineering, Stanford University, Stanford, CA 94305
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Bradford W. Parkinson
e-mail: brad@relgyro.stanford.edu
Bradford W. Parkinson
Department of Aeronautics and Astronautics, Stanford University, Stanford, CA 94305
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David M. Bevly
**
Department of Mechanical Engineering, Stanford University, Stanford, CA 94305
e-mail: dmbevly@eng.auburn.edu
J. Christian Gerdes
Department of Mechanical Engineering, Stanford University, Stanford, CA 94305
e-mail: gerdes@cdr.stanford.edu
Bradford W. Parkinson
Department of Aeronautics and Astronautics, Stanford University, Stanford, CA 94305
e-mail: brad@relgyro.stanford.edu
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, June 2001; Final revision, March 2002. Associate Editor: S. N. Sivashankar.
J. Dyn. Sys., Meas., Control. Dec 2002, 124(4): 659-667 (9 pages)
Published Online: December 16, 2002
Article history
Received:
June 1, 2001
Revised:
March 1, 2002
Online:
December 16, 2002
Citation
Bevly, D. M., Gerdes, J. C., and Parkinson, B. W. (December 16, 2002). "A New Yaw Dynamic Model for Improved High Speed Control of a Farm Tractor ." ASME. J. Dyn. Sys., Meas., Control. December 2002; 124(4): 659–667. https://doi.org/10.1115/1.1515329
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