This paper relates to analyses and control of the oscillations occurring in many off road vehicles, which are designed without any suspension. Without suspension, the tire is the only elastic element acting between the vehicle and the ground but the suspension and damping properties of the tires cannot meet the demands for fast, safe and comfortable road transportation. In this paper the above-mentioned phenomenon is investigated with special focus on agricultural tractors. A control strategy is developed to make the implement counteract the movement of the tractor and thereby reducing the pitching oscillation. The control strategy is based on a linear plant model with constant or slowly varying parameters. Using a frequency-response approach the disturbance rejection is made effective over a significant portion of the system bandwidth. To improve robustness with respect to bounded disturbances (from the road) natural frequencies for the vehicle and implement is identified and the controller parameters tuned adaptively based on an optimization formulation.
Skip Nav Destination
ASME 2003 International Mechanical Engineering Congress and Exposition
November 15–21, 2003
Washington, DC, USA
Conference Sponsors:
- Fluid Power Systems and Technology Division
ISBN:
0-7918-3717-3
PROCEEDINGS PAPER
Robust Control of Oscillations in Agricultural Tractors Available to Purchase
Torben Ole Andersen,
Torben Ole Andersen
Aalborg University, Aalborg, Denmark
Search for other works by this author on:
Michael Ryygaard Hansen,
Michael Ryygaard Hansen
Aalborg University, Aalborg, Denmark
Search for other works by this author on:
Finn Conrad
Finn Conrad
Technical University of Denmark, Aalborg, Denmark
Search for other works by this author on:
Torben Ole Andersen
Aalborg University, Aalborg, Denmark
Michael Ryygaard Hansen
Aalborg University, Aalborg, Denmark
Finn Conrad
Technical University of Denmark, Aalborg, Denmark
Paper No:
IMECE2003-41464, pp. 89-95; 7 pages
Published Online:
May 12, 2008
Citation
Andersen, TO, Hansen, MR, & Conrad, F. "Robust Control of Oscillations in Agricultural Tractors." Proceedings of the ASME 2003 International Mechanical Engineering Congress and Exposition. Fluid Power Systems and Technology. Washington, DC, USA. November 15–21, 2003. pp. 89-95. ASME. https://doi.org/10.1115/IMECE2003-41464
Download citation file:
17
Views
Related Proceedings Papers
Related Articles
Design, Modeling, and Control of a Hardware-in-the-Loop Testbed for Off-Road Vehicles
Letters Dyn. Sys. Control (October,2024)
Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator
J. Dyn. Sys., Meas., Control (December,2004)
Set-Based Robust Control Co-Design: Application to a Hybrid Thermal Management System
Letters Dyn. Sys. Control (July,2025)
Related Chapters
Fault-Tolerant Control of Sensors and Actuators Applied to Wind Energy Systems
Electrical and Mechanical Fault Diagnosis in Wind Energy Conversion Systems
Shape Oscillation of an Encapsulated Bubble in Electric Fields
Proceedings of the 10th International Symposium on Cavitation (CAV2018)
Single Oscillating Bubble from Radiofrequency Fiber Electrode
Proceedings of the 10th International Symposium on Cavitation (CAV2018)