Proactive vehicle oscillation suppression

This chapter illustrates how the undesired effects of the harvesting machine dynamics can be cancelled out with proactive vehicle oscillaiton suppression. The reader is first introduced to the basic idea of the proactive vehicle oscillation suppression with a strong focus on command shaping techniques. Different command shapers are discussed and weighed based on the application’s performance criteria. Furtheron, it is explained why an adaptive command shaping method is most promising for the header height control problem and an adequate adaptation scheme is chosen from a selection of the most prominent identification methods. The chapter also contains a section about the choice of the input signals for the adaptation scheme by the example of a combine harvester, the signal pre-processing and the determination of the order of the estimator model. In addition, it is explained how the natural frequency and damping ratio is derived from the coefficients of the estimator model. The chapter ends with a step-wise validation of the adaptive command shaping concept with real machine data.