Cooperative control method considering efficiency and tracking performance for unmanned hybrid tractor based on rotary tillage prediction

Abstract

In order to address the issues of poor trajectory tracking accuracy and low energy utilization efficiency in operation for unmanned hybrid tractors, a cooperative control method was proposed specifically for rotary tillage conditions. This method aims to improve the tractor efficiency and trajectory tracking performance. Firstly, a power take-off (PTO) power prediction method based on the Markov chain is designed to address the PTO of sudden load changes. Secondly, a trajectory tracking method based on model predictive control is designed to improve the accuracy of rotary tillage operation tracking. Next, in order to achieve efficient utilization of overall system energy, a real-time energy-saving control method based on instantaneous optimization is proposed. Finally, integrating the PTO power prediction method, trajectory tracking method, and real-time energy-saving control method with velocity and PTO power as the interactive variables, a cooperative control method based on Markov-trajectory tracking is established. The results show that the proposed control method simultaneously improves the energy utilization efficiency and trajectory tracking accuracy of the tractor under the rotary tillage condition. This study provides a reference for the cooperative control of the drive system and trajectory tracking of unmanned hybrid tractors.