Abstract
To improve the quality and control accuracy of the farming tractor electro-hydraulic hitch system, a variable-universe fuzzy control algorithm is introduced herein based on force–position mixed adjustment. (1) Background: This research sought to improve the operation quality and control precision of the tractor electro-hydraulic suspension operation system by solving the slow response and low precision problems in the target value control of the system. (2) Methods: According to the characteristics of the operating system, the working principle is discussed. The variable-universe fuzzy controller and the control module were designed based on MC9S12XS128. At the same time, we used Matlab/Simulink to study the step response, and field tests were carried out based on the existing test conditions. (3) Results: In the response stage, the variable-universe fuzzy control only needs 5.85 s, and there is no overshoot problem; in the normal tillage stage, the maximum tillage depth difference is only 1.6 cm, and the traction force is 428 N, which is closer to the expected value. (4) Conclusions: The farming quality and efficiency of the operating system were improved. Additionally, the operating system can also provide technical support for intelligent agricultural machinery and the field management mode in the future.
Highlights
The electronically controlled hydraulic suspension system is a key module for modern agricultural tractors to lift agricultural implements, providing power for various coupled agricultural machinery [1]
Regarding the adjustment of tillage depth, scholars have proposed the theory of dual parameter adjustment [8,9], but the current actual production is still dominated by single parameter adjustments such as resistance or position; in the control algorithm, the introduction of fuzzy control, variable-universe theory and other ideas [10,11] effectively alleviate the strong nonlinear problems caused by time-varying system and disturbance and improve the quality of farming, its reliability and durability need to be optimized
During the steady-state fluctuation phase of the experiment (20–60 s), the maximum tillage depth of the PID control is 27.26 cm, the minimum is 24.12 cm, and the deviation interval is 3.14 cm; the maximum traction force controlled by PID is 7625 N, the minimum is 6783 N, and the deviation interval is 842 N
Summary
The electronically controlled hydraulic suspension system is a key module for modern agricultural tractors to lift agricultural implements, providing power for various coupled agricultural machinery [1]. In the adjustment of tillage depth, the electronically controlled hydraulic suspension system continues to improve the efficiency and quality of tractor operation by virtue of its unique control advantages, and it has become a hot topic in current agricultural machinery research [3,4,5]. Regarding the adjustment of tillage depth, scholars have proposed the theory of dual parameter adjustment [8,9], but the current actual production is still dominated by single parameter adjustments such as resistance or position; in the control algorithm, the introduction of fuzzy control, variable-universe theory and other ideas [10,11] effectively alleviate the strong nonlinear problems caused by time-varying system and disturbance and improve the quality of farming, its reliability and durability need to be optimized. The validity of the proposed IT2FOFPID controller is demonstrated in comparative simulation results in the presence of various field disturbances
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