Motion control method without velocity-sensor for electric tiller considering cultivation

For the motion control of a vehicle, velocity information is necessary. However, in the case of a tiller driving at a low speed on a rough terrain, it is very difficult to acquire the velocity accurately. The purpose of this research is to realize the motion control of electric tillers with higher operability. In this paper, authors propose a highly accurate velocity estimation method that uses multiple sensors. In addition, the cultivation motion is considered, and experiments are conducted to examine the influence of the reaction force due to tilling. Furthermore, a vehicle model in which the tilling claws are regarded as driving wheels is constructed, and the control method for the electric tiller is described according to the simulation result.