The Development Of Field-wheeled Following Vehicle Control System In View Of Decoupling Linear Active Disturbance Rejection Control Technology

The primary purpose of Field-wheeled Following Vehicle System is to completethe agricultural production. Due to the complex and bad work environment, thetechnologies of their moving and precision positioning become quitecomplex.Therefore,it is important to carry out the studies of Field-wheeled FollowingVehicle Control System to increase agricultural productivity, change the model ofagricultural production and realize the modernized production and other aspects.As a MIMO (Multiple Input Multiple Output)system,The Field-wheeledFollowing Vehicle need a large amount of computation to solve the decoupling controlproblem by using the traditional methods such as PID control with DFL(DirectFeedback Linearization).However, it will be more easy to take advantage ofDLADRC(Decoupling Linear Active Disturbance Rejection Control,DLADRC) tosolve the decoupling control problem and does not require a large amount ofcomputation and will be with good robustness. The technology of ADRC（ActiveDisturbance Rejection Control，ADRC）control is a new practical digital controltechnology which is based on ESO(Extended State Observer,ESO) idea of moderncontrol theory.ADRC absorbs the essence of traditional PID control method andprovides good control performance. LADRC (Linear Active Disturbance RejectionControl) technology is the linearization of ADRC. It does not only keep the controlperformance of ADRC but also effectively solves the complex problems of ADRCparameters tuning and the controller design is with high efficiency and practicability.First this article established the mathematical model of the Following VehicleSystem on the basis of kinematic analysis of the relative position (between firstvehicle and following vehicle,) the following vehicle movement and the motormovement in Field-wheeled Following Vehicle System. It provides the basis for thesubsequent controller design.Secondly, the controllers are designed in view of DLADRC technology and PIDcontrol with DFL on the basis of the mathematical model of the Following VehicleSystem. Based on MATLAB simulation software, the simulation block diagram of thetwo controllers are established separately and performed dynamic simulation withoutwith outside interference.By comparing the control indicators such as the overshootand transient time of the simulation results, it is concluded that the control effect ofDLADRC is more excellent than PID control with DFL.Finally, designed and processed the mechanical structure of Field-wheeled Following Vehicle and developed the control system hardware circuit withATmega128as the core and wrote the software to achieve motor drive, controlalgorithm function, data communication and relative position measurement betweenfirst vehicle and following vehicle. At last, tested the robot in the field and verified thevalidity and rationality of the theoretical analysis and controller design.