《Study on dynamic model of tractor system for automated navigation applications》.pdfVIP

270 Feng et al. / J Zhejiang Univ SCI 2005 6A(4):270-275 Journal of Zhejiang University SCIENCE ISSN 1009-3095 /jzus E-mail: jzus@ Study on dynamic model of tractor system * for automated navigation applications FENG Lei (冯 雷), HE Yong (何 勇) (School of Bio-system Engineering and Food Science, Zhejiang University, Hangzhou 310029, China) E-mail: hzfenglei@; yhe@ Received Apr. 16, 2004; revision accepted Sept. 10, 2004 Abstract: This research aims at using a dynamic model of tractor system to support navigation system design for an automati- cally guided agricultural tractor. This model, consisting of a bicycle model of the tractor system, has been implemented in the MATLAB environment and was developed based on a John Deere tractor. The simulation results from this MATLAB model was validated through field navigation tests. The accuracy of the trajectory estimation is strongly affected by the determination of the cornering stiffness of the tractor. In this simulation, the tractor cornering stiffness analysis was identified during simulation analysis using the MATLAB model based on the recorded trajectory data. The obtained data was used in simulation analyses for various navigation operations in the field of interest. The analysis on field validation test results indicated that the developed tractor system could accurately estimate wheel trajectories of a tractor system while operating in agricultural fields at various speeds. The results also in