Projeto de controle e implementação de piloto automático para veículos agrícolas
Autor(a) principal: | |
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Data de Publicação: | 2023 |
Tipo de documento: | Dissertação |
Idioma: | por |
Título da fonte: | Manancial - Repositório Digital da UFSM |
Texto Completo: | http://repositorio.ufsm.br/handle/1/29093 |
Resumo: | This work presents the design and implementation of a steering autopilot for agricultural vehicles. Controllers are presented for the alignment and operation steps, which aims to take the vehicle to the path and keep it on it with the least possible error, respectively. Operation step controller is based on linear quadratic regulator (LQR) with output feedback, while the alignment controller uses the lookahead algorithm as the outer loop and a Linear Quadratic Tracker (LQT) with output feedback as an inner loop. Both LQR and LQT controllers use gain scheduling to ensure good performance at different operating speeds. Simulation results of the controllers with an analytical model of the vehicle are presented, which illustrate the expected results for the closed-loop system. For experimental validation of the controllers, a Massey Fergusson 6713 tractor was equipped with a GNSS receiver (Global Navigation Satellite System) with RTK correction (Real Time Kinematic), inertial sensors, an electric motor coupled to the steering and a microcontroller. The developed controllers were then implemented and experimentally tested, and the obtained results were compared to the simulation results. In experimental tests, a lateral error with a standard deviation of 2.67 cm was obtained for the operating stage and the system performance was similar for speeds between 4.3 km/h and 8.4 km/h. |
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2023-05-16T11:48:45Z2023-05-16T11:48:45Z2023-02-15http://repositorio.ufsm.br/handle/1/29093This work presents the design and implementation of a steering autopilot for agricultural vehicles. Controllers are presented for the alignment and operation steps, which aims to take the vehicle to the path and keep it on it with the least possible error, respectively. Operation step controller is based on linear quadratic regulator (LQR) with output feedback, while the alignment controller uses the lookahead algorithm as the outer loop and a Linear Quadratic Tracker (LQT) with output feedback as an inner loop. Both LQR and LQT controllers use gain scheduling to ensure good performance at different operating speeds. Simulation results of the controllers with an analytical model of the vehicle are presented, which illustrate the expected results for the closed-loop system. For experimental validation of the controllers, a Massey Fergusson 6713 tractor was equipped with a GNSS receiver (Global Navigation Satellite System) with RTK correction (Real Time Kinematic), inertial sensors, an electric motor coupled to the steering and a microcontroller. The developed controllers were then implemented and experimentally tested, and the obtained results were compared to the simulation results. In experimental tests, a lateral error with a standard deviation of 2.67 cm was obtained for the operating stage and the system performance was similar for speeds between 4.3 km/h and 8.4 km/h.Este trabalho trata do projeto e implementação de um piloto automático de direção para veículos agrícolas. São apresentados controladores para as etapas de alinhamento e de operação, que tem por objetivo levar o veículo até a trajetória e mantê-lo nela com o menor erro possível, respectivamente. O controlador da etapa de operação é baseado no regulador linear quadrático (LQR - Linear Quadratic Regulator) com realimentação das saídas, enquanto o controlador de alinhamento utiliza o algoritmo lookahead como malha externa e um rastreador linear quadrático (LQT - Linear Quadratic Tracker ) com realimentação das saídas como malha interna. Ambos os controladores LQR e LQT utilizam mapa de ganhos para garantir boa performance em diferentes velocidades de operação. São apresentados resultados de simulação dos controladores projetados com um modelo analítico do veículo, que ilustram os resultados esperados para o sistema em malha fechada. Para validação experimental dos controladores, um trator Massey Fergusson 6713 foi equipado com receptor GNSS (Global Navigation Sattelite System) com correção RTK (Real Time Kinematic), sensores inerciais, um motor elétrico acoplado à direção e um microcontrolador. Os controladores desenvolvidos foram então implementados e testados experimentalmente, e os resultados obtidos foram comparados aos resultados de simulação. Em ensaios experimentais, obteve-se um erro lateral com desvio padrão de 2, 67 cm para a etapa de operação e o desempenho do sistema se mostrou semelhante para velocidades entre 4, 3 km/h a 8, 4 km/h.porUniversidade Federal de Santa MariaCentro de TecnologiaPrograma de Pós-Graduação em Engenharia ElétricaUFSMBrasilEngenharia ElétricaAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessPiloto automático de direçãoRegulador linear quadráticoRastreador linear quadráticoAlgoritmo lookaheadSteering autopilotLinear quadratic regulatorLinear quadratic trackerLookahead algorithmCNPQ::ENGENHARIAS::ENGENHARIA ELETRICAProjeto de controle e implementação de piloto automático para veículos agrícolasAutopilot control and implementation project for agricultural vehiclesinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisBisogno, Fábio Eckehttp://lattes.cnpq.br/6267716868501584Silva, André Luis daPaglione, Pedrohttp://lattes.cnpq.br/6964053135660442Sacco, Renan Rathis30040000000760060060060060051234c7f-c599-43e8-8158-d7c5097d9f6e7e2083fc-0562-4582-ad69-ed4bf167cfdadaa5a055-5736-4b60-84dd-18925c4b86596b5070d0-6e2c-4fa5-9268-7972d9c3916creponame:Manancial - Repositório Digital da UFSMinstname:Universidade Federal de Santa Maria (UFSM)instacron:UFSMORIGINALDIS_PPGEE_2023_SACCO_RENAN.pdfDIS_PPGEE_2023_SACCO_RENAN.pdfDissertaçãoapplication/pdf4461980http://repositorio.ufsm.br/bitstream/1/29093/1/DIS_PPGEE_2023_SACCO_RENAN.pdf5d6cb47b0fe25be3275e1df92d7f9e3cMD51CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8805http://repositorio.ufsm.br/bitstream/1/29093/2/license_rdf4460e5956bc1d1639be9ae6146a50347MD52LICENSElicense.txtlicense.txttext/plain; charset=utf-81956http://repositorio.ufsm.br/bitstream/1/29093/3/license.txt2f0571ecee68693bd5cd3f17c1e075dfMD531/290932023-05-16 08:48:45.862oai:repositorio.ufsm.br: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ório Institucionalhttp://repositorio.ufsm.br/PUBhttp://repositorio.ufsm.br/oai/requestopendoar:39132023-05-16T11:48:45Manancial - Repositório Digital da UFSM - Universidade Federal de Santa Maria (UFSM)false |
dc.title.por.fl_str_mv |
Projeto de controle e implementação de piloto automático para veículos agrícolas |
dc.title.alternative.eng.fl_str_mv |
Autopilot control and implementation project for agricultural vehicles |
title |
Projeto de controle e implementação de piloto automático para veículos agrícolas |
spellingShingle |
Projeto de controle e implementação de piloto automático para veículos agrícolas Sacco, Renan Rathis Piloto automático de direção Regulador linear quadrático Rastreador linear quadrático Algoritmo lookahead Steering autopilot Linear quadratic regulator Linear quadratic tracker Lookahead algorithm CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA |
title_short |
Projeto de controle e implementação de piloto automático para veículos agrícolas |
title_full |
Projeto de controle e implementação de piloto automático para veículos agrícolas |
title_fullStr |
Projeto de controle e implementação de piloto automático para veículos agrícolas |
title_full_unstemmed |
Projeto de controle e implementação de piloto automático para veículos agrícolas |
title_sort |
Projeto de controle e implementação de piloto automático para veículos agrícolas |
author |
Sacco, Renan Rathis |
author_facet |
Sacco, Renan Rathis |
author_role |
author |
dc.contributor.advisor1.fl_str_mv |
Bisogno, Fábio Ecke |
dc.contributor.advisor1Lattes.fl_str_mv |
http://lattes.cnpq.br/6267716868501584 |
dc.contributor.referee1.fl_str_mv |
Silva, André Luis da |
dc.contributor.referee2.fl_str_mv |
Paglione, Pedro |
dc.contributor.authorLattes.fl_str_mv |
http://lattes.cnpq.br/6964053135660442 |
dc.contributor.author.fl_str_mv |
Sacco, Renan Rathis |
contributor_str_mv |
Bisogno, Fábio Ecke Silva, André Luis da Paglione, Pedro |
dc.subject.por.fl_str_mv |
Piloto automático de direção Regulador linear quadrático Rastreador linear quadrático Algoritmo lookahead |
topic |
Piloto automático de direção Regulador linear quadrático Rastreador linear quadrático Algoritmo lookahead Steering autopilot Linear quadratic regulator Linear quadratic tracker Lookahead algorithm CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA |
dc.subject.eng.fl_str_mv |
Steering autopilot Linear quadratic regulator Linear quadratic tracker Lookahead algorithm |
dc.subject.cnpq.fl_str_mv |
CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA |
description |
This work presents the design and implementation of a steering autopilot for agricultural vehicles. Controllers are presented for the alignment and operation steps, which aims to take the vehicle to the path and keep it on it with the least possible error, respectively. Operation step controller is based on linear quadratic regulator (LQR) with output feedback, while the alignment controller uses the lookahead algorithm as the outer loop and a Linear Quadratic Tracker (LQT) with output feedback as an inner loop. Both LQR and LQT controllers use gain scheduling to ensure good performance at different operating speeds. Simulation results of the controllers with an analytical model of the vehicle are presented, which illustrate the expected results for the closed-loop system. For experimental validation of the controllers, a Massey Fergusson 6713 tractor was equipped with a GNSS receiver (Global Navigation Satellite System) with RTK correction (Real Time Kinematic), inertial sensors, an electric motor coupled to the steering and a microcontroller. The developed controllers were then implemented and experimentally tested, and the obtained results were compared to the simulation results. In experimental tests, a lateral error with a standard deviation of 2.67 cm was obtained for the operating stage and the system performance was similar for speeds between 4.3 km/h and 8.4 km/h. |
publishDate |
2023 |
dc.date.accessioned.fl_str_mv |
2023-05-16T11:48:45Z |
dc.date.available.fl_str_mv |
2023-05-16T11:48:45Z |
dc.date.issued.fl_str_mv |
2023-02-15 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://repositorio.ufsm.br/handle/1/29093 |
url |
http://repositorio.ufsm.br/handle/1/29093 |
dc.language.iso.fl_str_mv |
por |
language |
por |
dc.relation.cnpq.fl_str_mv |
300400000007 |
dc.relation.confidence.fl_str_mv |
600 600 600 600 600 |
dc.relation.authority.fl_str_mv |
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dc.rights.driver.fl_str_mv |
Attribution-NonCommercial-NoDerivatives 4.0 International http://creativecommons.org/licenses/by-nc-nd/4.0/ info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
Attribution-NonCommercial-NoDerivatives 4.0 International http://creativecommons.org/licenses/by-nc-nd/4.0/ |
eu_rights_str_mv |
openAccess |
dc.publisher.none.fl_str_mv |
Universidade Federal de Santa Maria Centro de Tecnologia |
dc.publisher.program.fl_str_mv |
Programa de Pós-Graduação em Engenharia Elétrica |
dc.publisher.initials.fl_str_mv |
UFSM |
dc.publisher.country.fl_str_mv |
Brasil |
dc.publisher.department.fl_str_mv |
Engenharia Elétrica |
publisher.none.fl_str_mv |
Universidade Federal de Santa Maria Centro de Tecnologia |
dc.source.none.fl_str_mv |
reponame:Manancial - Repositório Digital da UFSM instname:Universidade Federal de Santa Maria (UFSM) instacron:UFSM |
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