Abstract
In order to realise ground clearance and levelling control of plant protection machine in high ground clearance. In this paper, a chassis automatic levelling control system is designed. Position error control method and angle error control method are used to control the chassis automatic levelling control system, which is divided into ground clearance height adjustment and chassis levelling control strategy, respectively. The system is controlled by combining fuzzy control algorithm and preset point levelling method. The experiment was carried out on the chassis of our self-developed multi-functional plant protection machine with high ground clearance. The results show that the automatic levelling system can complete the chassis levelling well. Its average horizontal error is < 0.20°, root mean square error < 0.25°, maximum error is 1.13°, average levelling time < 26 s, and levelling precision < 0.2°. The system can meet the operation requirements of plant protection machine.
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