Harvester speed control
The objective is to control the speed of a combine harvester on the road such that the noise and the exhaust fumes are minimized.
For this purpose two inputs are available: the setting of the hydrostatic pump and the engine speed of the diesel engine. Since the noise and the exhaust fumes depend on the engine speed of the diesel engine, the objective is to lower the engine speed as much as possible without compromising on acceleration performance.
A controller is designed that runs at minimal engine speed at all times, and only increases the engine speed during acceleration. The driving experience of the operator remains intact, and the combine harvester runs at a much lower engine speed.
Challenge: nonlinear relation between speed and both inputs. Relation dependent on the selected gear.
- T. Coen, W. Saeys, B. Missotten, and J. De Baerdemaeker. Cruise control on a combine harvester using model-based predictive control. Biosystems Engineering, 99(1):47-55,2008.
- T. Coen, J. Anthonis, and J. De Baerdemaeker. Cruise control using model-based predictive control with constraints. Computers and Electronics in Agriculture, 63(2):227-236,2008