Control Strategy of Grain Truck Following Operation Considering Variable Loads and Control Delay

Zhikai Ma, Kun Chong, Shiwei Ma, Weiqiang Fu, Yanxin Yin, Helong Yu and Chunjiang Zhao ()
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Zhikai Ma: College of Mechanical and Electrical Engineering, Agricultural University of Hebei, Baoding 071001, China
Kun Chong: College of Mechanical and Electrical Engineering, Agricultural University of Hebei, Baoding 071001, China
Shiwei Ma: College of Mechanical and Electrical Engineering, Agricultural University of Hebei, Baoding 071001, China
Weiqiang Fu: Beijing Research Center of Intelligent Equipment for Agriculture, Beijing 100097, China
Yanxin Yin: Beijing Research Center of Intelligent Equipment for Agriculture, Beijing 100097, China
Helong Yu: Institute for the Smart Agriculture, Jilin Agricultural University, Jilin 130118, China
Chunjiang Zhao: Beijing Research Center of Intelligent Equipment for Agriculture, Beijing 100097, China

Agriculture, 2022, vol. 12, issue 10, 1-14

Abstract: Considering the slow response and unstable velocity of agricultural machinery caused by soil resistance, actuator delay, environmental change, velocity fluctuation, and other internal and external factors under real working conditions, a kind of agricultural machinery following a control system that considers variable load and control delay was proposed. Taking distance-keeping, velocity-following, and acceleration-following as parameters, the controller model was deduced, and the influence of different values of model parameters on the driving stability of agricultural machinery was analyzed in detail. In addition, this paper describes a kind of agricultural machinery following a strategy that can realize the graded adjustment of vehicle distance with the dynamic increase in vehicle weight. Then, the following strategy, under the influence of velocity and quality, was simulated and verified using MATLAB/Simulink (MATLAB2016a, mathworks: Natick, Massachusetts, USA). When the crop harvester was at 1.5 m/s and the amplitude of velocity fluctuation was 0.3 m and 1.3 m, respectively, the grain truck could adjust its velocity to keep up with the crop harvester to complete the operation task. Simulation verification was carried out for the proposed graded adjustment of vehicle distance of agricultural machinery following strategy. The unit mass of the crops was set at 360 kg, and the vehicle distance changed at 18s to adapt to the graded adjustment of the vehicle distance following strategy. Finally, a real-vehicle validation test was carried out, and the results show that the grain truck velocity can keep up with the change of crop harvester velocity on the basis of maintaining the desired vehicle distance, the grain truck velocity can keep up with the change of crop harvester velocity on the road condition, which verifies the effectiveness and feasibility of the proposed method.

Keywords: agricultural machinery; control delay; vehicle variable load; multi-machine coordination (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2022
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