Abstract
This paper deals with a traction control system (TCS) for combine harvesters. Off-road vehicles typically have a lower traction efficiency compared to on-road vehicles. The rising demand for high-power agricultural machines leads to a significant need for higher traction efficiency to reduce power loss. A TCS can help to increase the traction efficiency by controlling the slip ratio. Further positive effects are the reduction of soil compaction and longitudinal stability of the vehicle. In this paper a combine harvester model is introduced to describe the dynamic interaction between drivetrain and vehicle longitudinal dynamics which include slip. This model depends on several parameters, which can be estimated online along with the determination of the maximal slip ratio. The plant model is successfully validated using field test measurements. A PID traction controller and a sliding-mode traction controller are designed and compared. Two control concepts are evaluated utilizing this model and these controllers. Simulation results show the effectiveness and efficiency of the proposed TCS.
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