ON-OFF制御による逐次追従型自動操向の1方法 : クラブ・ステアリング車による自動操向の場合

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Automatic steering of field machine has two phases; the one is as in Jidatsu combine or corn harvester guided by the plant row and the other is as in rotary tiller or mower guided by the tilling edge or swathing edge of previous pass. The former is the single pass guidance and the latter is the mutiple pass guidance. In the latter case an oscillation of the locus inffluences following guidances. Considering actual operation in steering of field machine, the long wave length pattern of the guide marker should be traced and the short wave length oscillation of guide marker should be smoothed but not be traced. Smoothing these oscillation results to compress the influence of a pass on following guidances. The multiple guideace steering as in rotary tiller or mower has so particular condition that implement may travel to overlap the previously processed part of field. Automatic guidance system should trace the diffrection of guide marker for the processed part to cover the unprocessed but need not trace the one for the unprocessed part to overlap the processed. The recognition of guide pattern is not able without computing devices (ex. microprocessor). If a solution will be found without recognition by computation, it can be suggested as a method of on-off control steering system that each maximum steering angle is taken larger for the processed part and smaller for the unprocessed part. The effect of this method was defined with the experiments which were carried for ramp-patternised guide markers on concreate surface and field with automatic controlled crab-steering vehicle, and its problems were discussed.
神戸大学の論文

ON-OFF制御による逐次追従型自動操向の1方法 : クラブ・ステアリング車による自動操向の場合

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