Two degrees of freedom control for combine harvester header height control

Yangmin Xie, Andrew G Alleyne

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a two degree of freedom (DOF) controller for combine harvester header height control (HHC). Previous work [1] identified fundamental limitations to the tracking and disturbance rejection bandwidths for feedback control designs. In this work, we utilize H∞ optimal control design to ensure closed loop stability and robust performance, and augment a feedback loop with a feedforward control structure based on readily available Global Positioning System (GPS) information. The GPS provides anticipatory information of the field map elevation, which become disturbances to the header height control problem, to the feedforward controller thereby increasing the overall disturbance rejection bandwidth. Simulation results illustrate the performance improvements resulting from the two DOF design over the stand alone feedback controller. Additionally, an error analysis examines the effect of uncertainties from system modeling and field map measurements on the system performance.

Original languageEnglish (US)
Title of host publicationASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Pages539-547
Number of pages9
DOIs
StatePublished - Dec 1 2012
EventASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 - Fort Lauderdale, FL, United States
Duration: Oct 17 2012Oct 19 2012

Publication series

NameASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Volume3

Other

OtherASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
CountryUnited States
CityFort Lauderdale, FL
Period10/17/1210/19/12

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Xie, Y., & Alleyne, A. G. (2012). Two degrees of freedom control for combine harvester header height control. In ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 (pp. 539-547). (ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012; Vol. 3). https://doi.org/10.1115/DSCC2012-MOVIC2012-8576