2012
IMAACA 2012 Proceeding
Towards a methodology for modelling and validation of an agricultural vehicle?s dynamics and control
Authors: Martin Peter Christiansen, Kim Bjerge, Gareth Edwards, Peter Gorm Larsen
Abstract
A model-oriented approach aimed at cost-effective development of autonomous agricultural vehicles is presented. Here a combination of discrete-event modelling of a digital controller and continuous-time modelling of the vehicle is used for co-simulation. In order to have confidence in the simulation results it is paramount to be able to relate the simulation results to the behaviour of the real system. The cost of physical tests is high and we argue that using such collaborative models is a cost-effective way to experiment with the most significant design parameters influencing the optimal system solution. The suggested methodology is exemplified on a Lego®Mindstorms®NXT micro- tractor. Testing is performed based on measurements from a localisation system and internal sensors on the tractor. Our tests show that we are able to predict the performance with a high accuracy indicating that this is worthwhile for a full-scale model.
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