Design and Test of Tractor Tillage Depth Control System Based on Optimal Draft-position Comprehensive Degree
Abstract
Aiming at the problem that the artificial setting of comprehensive coefficient is difficult to adapt to the complex and changeable working environment of soil conditions in the process of tractor electro-hydraulic suspension tillage depth control, a tillage depth control method based on optimal draft-position comprehensive coefficient was proposed. Firstly, the test platform of tractor electro-hydraulic suspension draft-position integrated tillage depth control and loading system was built and the system was modeled by system identification method. Then aiming at the problem of uncertain parameters of the equivalent transfer function of the system, a global sliding mode control algorithm was designed, and an arc-tangent function was introduced to reduce the chattering of the system. The full factor sample test was designed, and the comprehensive operation evaluation index was established by compromise programming method. The expected draft-position comprehensive coefficient under different working conditions was obtained, and the optimal draft-position comprehensive model was established based on the least squares support vector machine optimized by particle swarm optimization algorithm (PSO-LSSVM). Finally, the effect of the control system was verified by using the built control system test platform. The results showed that the proposed algorithm achieved a rise time of 1.06s without noticeable chattering. Compared with the fixed weight-depth control method with a comprehensive coefficient of 0.5, the proposed method reduced the depth deviation rate by 19.5% and 13.9% at target depths of 140mm and 220mm, respectively, while improving depth uniformity by 16.6% and 11.2%. This method can realize the adaptive adjustment of the comprehensive coefficient according to the soil specific resistance and tillage depth, and was more adaptable to the complex field operation environment, which provided a reference for the research of tillage depth control method.
Keywords: tillage depth control system;PSO-LSSVM;parameter identification;global sliding mode control;optimal draft-position comprehensive degree
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