The Design and Experimentation of EVPIVS-PID Harvesters’ Header Height Control System Based on Sensor Ground Profiling Monitoring

Ranbing Yang, Zhichao Wang, Shuqi Shang, Jian Zhang, Yiren Qing and Xiantao Zha
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Ranbing Yang: College of Mechanical and Electrical Engineering, Hainan University, Haikou 570228, China
Zhichao Wang: College of Mechanical and Electrical Engineering, Qingdao Agricultural University, Qingdao 266109, China
Shuqi Shang: College of Mechanical and Electrical Engineering, Qingdao Agricultural University, Qingdao 266109, China
Jian Zhang: College of Mechanical and Electrical Engineering, Qingdao Agricultural University, Qingdao 266109, China
Yiren Qing: College of Mechanical and Electrical Engineering, Hainan University, Haikou 570228, China
Xiantao Zha: College of Mechanical and Electrical Engineering, Hainan University, Haikou 570228, China

Agriculture, 2022, vol. 12, issue 2, 1-24

Abstract: In this paper, an adaptive header height control system is designed. Through the influence of the natural frequency, ω n , and damping ratio, ζ , on the system’s dynamic index, the optimal hydraulic cylinder parameters are determined comprehensively. The ground profiling monitoring mechanism and the header height feedback mechanism based on the angle sensor are designed. An integrated electromagnetic proportional valve was installed to replace the original header-controlled, electronically-controlled reversing valve, and a PWM (pulse width modulation) control-simulated counterweight test was performed. The limitation of traditional PID facing the integral saturation state is analysed, and a new EVPIVS-PID algorithm is proposed and simulated. Through the analysis of multiple groups of sample data in the field test, the accuracy of the control system in the header height control and output PWM value is demonstrated. The effectiveness of the EVPIVS-PID control algorithm to change the corresponding PID parameters based on the monitoring operation speed is analysed and demonstrated. Experiments show that the adaptive control system of header height based on ground profiling has a stable control effect. The height error of cutting stubble is not more than 2 cm, which can meet the requirements of a 5–11 km/h harvesting speed in plain areas.

Keywords: header height control; EVPIVS-PID; control accuracy; system adaptive control (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
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (5)

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