农业机械学报2024，Vol.55Issue(7)：415-426,12.DOI:10.6041/j.issn.1000-1298.2024.07.041
基于ARMAX-KF与速度补偿的拖拉机无前轮传感器转角估计方法
Steering Angle Estimation Method for Tractors without Angle Sensor Using ARMAX-KF and Speed Compensation
摘要
Abstract
To address the complicated installation and maintenance of the steering angle sensor and inaccurate angle estimation in traditional agricultural machinery navigation systems,the ARMAX-KF method and vehicle speed compensation were proposed to estimate the steering angle of tractors without steering angle sensors.Initially,the Hammerstein nonlinear system was used to model the tractor's steering system,followed by identification using the RLS method as an ARMAX model.Subsequently,a method was proposed to obtain the velocity of the rear axle center point through speed lever arm compensation.Finally,ARMAX-KF was designed to estimate the steering angle,utilizing the correcting characteristics of the Kalman filter,using the tractor's kinematic steering angle as the observation value to correct the integrated angle velocity predicted by the ARMAX model,thus estimating the steering angle of the tractor.The method of measuring speed for speed lever arm compensation achieved the average absolute error of the compensated kinematics steering angle of 1.110°,with a standard deviation of 1.727°,reducing the error by 61.13%and 31.55%compared with the values obtained before compensation.In the dynamic angle test,the standard deviation of the angle velocity predicted by the ARMAX model was 2.439(°)/s,reducing the error by 56.58%compared with the method using a fixed transmission ratio.The absolute average error of the steering angle estimation based on ARMAX-KF was 0.649°,with a standard deviation of 0.371°,reducing the error by 56.9%and 78.82%,respectively,compared with the methods using a fixed transmission ratio and the Kalman filter.In the straight-line navigation tracking test,the steering angle estimation standard deviation based on ARMAX-KF was 0.649°.The proposed method improved the accuracy of angle estimation and enhanced the quality of agricultural machinery navigation.关键词
农机导航系统/转角测量/电动方向盘/ARMAX模型/卡尔曼滤波器/速度补偿Key words
agricultural machinery navigation system/steering angle measuring/electric steering wheel/ARMAX model/Kalman filter/speed compensation分类
农业科技引用本文复制引用
张闻宇,张国城,张智刚,罗锡文,苑炳轩,鲍开元..基于ARMAX-KF与速度补偿的拖拉机无前轮传感器转角估计方法[J].农业机械学报,2024,55(7):415-426,12.基金项目
国家重点研发计划项目(2022YFD200160103)和山东省重点研发计划项目(2022SFGC0202) （2022YFD200160103）
