Development of Online Adaptive Traction Control for Electric Robotic Tractors

Estimation and control of wheel slip is a critical consideration in preventing loss traction, minimizing power consumptions, reducing soil disturbance. An approach to estimation control, which robust sensor noises modeling imperfection, has been investigated this study. The proposed method uses simplified form wheels longitudinal dynamic the measurement vehicle speeds estimate optimum slip. forces were estimated using sliding mode observer. A straightforward simple interpolation method, involves use Burckhardt tire model, instantaneous values slip, force, was used determine ratio that guarantees maximum friction coefficient between road surface. integral strategy also developed force track desired value. algorithm tested Matlab/Simulink environment later implemented on an autonomous electric test platform by Nanjing agricultural university. Results from simulation field tests surfaces with different coefficients (μ) have proved can detect abrupt change terrain coefficient; it More so, result shown bounded variations weight rolling resistance. During test, system reduced non-optimal about 0.8 optimal less than 0.2. achieved reduction torque delivery wheel, invariably leads velocity.