Abstract
In order to realize the pressure control of the tractor electronic hydraulic hitch in the fields, the pressure control algorithm is essential. In this study, combining the kinematics model with the dynamic model of ploughing and the hydraulic system model, an adaptive fuzzy PID controller is proposed to adjust the real-time data of the PID parameters for the pressure control of the tractor electronic hydraulic hitch. The feasibility of the proposed controller was verified by simulation. Next, a pressure control experimental with the real vehicle experiment platform was carried out under three control algorithms of the traditional PID, the traditional PID with compensation correction and the adaptive fuzzy PID with compensation correction in verifying the pressure control effect of the tractor in different controllers. When the system was stable, the experimental results showed that the input was 1.5 MPa step signal with response time in the traditional PID controller of 2.5 s, fluctuation range of 0.5 MPa. However, the response time in the adaptive fuzzy PID with compensation correction was 1.5 s, fluctuation range of 0.3 MPa. The responding time was 40% lower, and the pressure fluctuation range was reduced by 40%. In conclusion, the proposed algorithm successfully realized the pressure control of the tractor. The proposed adaptive fuzzy PID with compensation correction in this paper has a better dynamic performance.
Highlights
The hitch is a particular part used with a tractor for the lifting of agricultural tools and control of plough depth
Many different control methods have been developed for the tractor electronic hydraulic hitch control system, including the position control, draft control [7,8,9], draft-position control [10] and slip rate control [11,12,13]
The original tractor electro-hydraulic hitch was changed into pressure control experimental platform
Summary
The hitch is a particular part used with a tractor for the lifting of agricultural tools and control of plough depth. The operation quality and efficiency of the tractor unit could be affected directly by control performance [1]. Since the requirements of elaborate operation were continuously improved upon [2,3], the accuracy and the control stability, as well as the response speed of the tractor hitch, were expected to be better. With the development of hydraulics, electro-hydraulic control has received increased attention in the field of an intelligent agricultural tractor [4,5,6]. The efficiency of tractor ploughing can be greatly improved by adopting corresponding control methods under different working conditions [14].
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