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Description: The Wide-Span Implement Carrier (WSIC) is a versatile platform for the operation of field agricultural machines and implements that can reduce the negative impacts of conventional agricultural machinery systems on soil and crops. It is composed of a long truss supported by low-profile vehicles at both ends. Machines and implements are supported and operated by means of a mobile carriage that can move along the length of the truss. In this contribution, dynamic control systems are developed for the autonomous operation of agricultural WSICs. A dynamic model of a wheeled WSIC support vehicle is developed for the stationary and mobile operating modes of the WSIC. An adjoint approach is used to describe the kinematic relationship between the reference and actual paths of the vehicle. Lateral slip, rolling resistance, tractive forces, wheel slippage, soil reactions and the forces and moments transferred from the truss to the support vehicle are integrated into the dynamic model. Dynamic control algorithms for WSICs are designed for path tracking (mobile operating mode) and point-to-point displacement (stationary operating mode).

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Date: 2021-06-11
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Conference name: 5th CIGR International Conference and CSBE-SCGAB AGM 2021, Quebec City,QC, 11-14 May 2021.
Session name: Machinery and Robotic Systems 1

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Publication type: Presentation
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Coverage: Canada
Language 1: en
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Rights: Canadian Society for Bioengineering
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