Fundamental Limits in Combine Harvester Header Height Control

Abstract

This paper investigates fundamental performance limitations in the control of a combine harvester's header height control system. There are two primary subsystem characteristics that influence the achievable bandwidth by affecting the open loop transfer function. The first subsystem is the mechanical configuration of the combine and header while the second subsystem is the electrohydraulic actuation for the header. The mechanical combine + header subsystem results in an input-output representation that is underactuated and has a noncollocated sensor/actuator pair. The electrohydraulic subsystem introduces a significant time delay. In combination, they each reinforce the effect of the other thereby exacerbating the overall system limitation of the closed loop bandwidth. Experimental results are provided to validate the model and existence of the closed loop bandwidth limitations that stem from specific system design configurations.