Front wheel skidding compensation system in snow ploughing

J. Backman, T. Oksanen, A. Visala

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

Tractor based snow ploughing with front mounted blade is steered by using front steering wheels of the tractor, but in slippery conditions the front wheels tend to slide sideways remarkably. Normally the driver compensates the skidding by steering the front wheels to opposite direction. If the skidding is not compensated, the tractor eventually drifts to the oncoming lane or spins around. In this paper, an automated method to estimate and to compensate the slipping is proposed. The estimation is based on a simple kinematic model of tractor-plough system with some additions. The estimation relies on an angular velocity measurement (Fiber Optic Gyro) of the heading that is able to recognize small changes of the driving direction that indicates the presence of slipping. The indicated slipping is compensated by a feedback law in a drive-by-wire steering system. The results show that the proposed system is able to measure fairly realistic values for the slipping angle and to compensate the slipping. Driver experiences confirm that less steering corrections are needed to keep the tractor on the desired trajectory.

Original languageEnglish
Title of host publication4th IFAC Conference on Modelling and Control in Agriculture, Horticulture and Post Harvest Industry, AGRICONTROL 2013 - Proceedings
PublisherIFAC Secretariat
Pages253-258
Number of pages6
Edition18 PART 1
ISBN (Print)9783902823441
DOIs
StatePublished - 2013
Externally publishedYes
Event4th IFAC Conference on Modelling and Control in Agriculture, Horticulture and Post Harvest Industry, AGRICONTROL 2013 - Espoo, Finland
Duration: 28 Aug 201330 Aug 2013

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number18 PART 1
Volume46
ISSN (Print)1474-6670

Conference

Conference4th IFAC Conference on Modelling and Control in Agriculture, Horticulture and Post Harvest Industry, AGRICONTROL 2013
Country/TerritoryFinland
CityEspoo
Period28/08/1330/08/13

Keywords

  • Drive-by-wire
  • Electronic stability control
  • State feedback control
  • Yaw rate control

Fingerprint

Dive into the research topics of 'Front wheel skidding compensation system in snow ploughing'. Together they form a unique fingerprint.

Cite this