The invention discloses an independent-following vehicle course control device and control method, and belongs to the field of automatic control and agricultural work vehicle application. The course control device comprises a detection system and a steering control system; the detection system comprises a front-wheel corner detection mechanism and an opposite course deflection-angle detection mechanism; the front-wheel corner detection mechanism is composed of a front wheel guide shaft, an absolute rotary encoder and an encoder mounting base, and the opposite course deflection-angle detection mechanism is composed of reflection type infrared sensors and a reflection board; the left side and the right side of the front end of a following vehicle are each provided with four reflection type infrared sensors, and the reflection board is arranged at the rear end of a guide vehicle; and according to reflection induction information of the infrared sensors, an opposite course deflection angle between the following vehicle and the guide vehicle is obtained. A steering control mechanism is composed of a stepping motor and a chain wheel transmission pair. A course control system modeling method and a control algorithm can stably and reliably achieve independent following of the following vehicle.
Independent-following vehicle course control device and control method
2015-09-16
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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