Development of Precision Control System for Agricultural Semi-Trailer Tracing the Track of Tractor (Part 1)

Development of Control Method and Investigation of Adaptability to In-Line Type Trailed Machinery

Abstract

To improve tracking performance of a semi-trailer type agricultural implement, a steering control method of the trailer wheels was developed. The basic concept of the steering method is to make steady state turning radius of the tractor and that of the trailer the same. The equation which expresses the above geometrical relationship between the tractor and the trailer was derived.
According to the equation, we proposed an active steering control method, in which the trailer wheels are controlled as a function of the steering angle of the tractor wheels and the angle between the tractor and the trailer. And the method was implemented in a prototype trailer.
From the experimental results by use of the prototype trailer, it has been confirmed that the method make the off-tracking of the trailer nearly zero.