The Automatic Steering Control System for Local Small Tractor by Encoder Tracking System

This paper is presented the automatic steering control of local small tractor. The objective of this paper to study, designed, development and experimental result in term of automatic steering control by using PID control theory. This small tractor type was designed and develops from old engine machine. The purpose of the tractor will be used in rice paddy field. The experimental result was compared the data of encoder during tractor move on the mapping location, all of results was presented between manual and automatic tracking. The overall result was get data collection from rotary encoder model OMRON E6B2-CWZ6C. The steering control system for the tractor was using PID control theory. The experimental result was directed towards on the location mapping via GPS and the data tracking from encoder will convert to GPS data in term of latitude and longitude. The result of manual recording at latitude side was average 14.1344 degree compared with the real data during tractor move was average 14.1342 degree, the average error result was approximately 3 percent. The data at longitude side was average 100.6104 degree to compared with the real data during tractor move was average 100.6012 degree, the average error result was approximately 4 percent. All of the experimental results of the tractor have 97 percent accuracy after improvements the system by using PID control and adjustment the parameter of Kp, Ki and Kd to improve the results of the research.