Research and Experiment on Cruise Control of a Self-Propelled Electric Sprayer Chassis

Lingxi Zhou, Chenwei Hu, Yuxiang Chen, Peijie Guo, Liwei Zhang, Jinyi Liu and Yu Chen ()
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Lingxi Zhou: College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China
Chenwei Hu: College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China
Yuxiang Chen: College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China
Peijie Guo: College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China
Liwei Zhang: College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China
Jinyi Liu: Mechanical and Electrical Engineering College, Hainan University, Haikou 570228, China
Yu Chen: College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China

Agriculture, 2024, vol. 14, issue 6, 1-21

Abstract: In order to address the issues of poor stability in vehicle speed and deteriorated spraying quality caused by changes in road slope and the decrease in overall mass due to liquid spraying, this study focuses on analyzing the structure and longitudinal dynamic characteristics of a 4WID high ground clearance self-propelled electric sprayer. By utilizing MATLAB/Simulink software, three subsystems, namely, the inverse longitudinal dynamics model, torque distribution model, and motor model, are established. The model takes into account the effects of longitudinal driving resistance, slope, and vehicle roll angle on the distribution of loads among the four wheels during slope driving. A seven-degrees-of-freedom dynamic model is developed. A hierarchical control structure is designed, incorporating an upper-level PID controller and a lower-level fuzzy PID controller, to control the overall system. The control algorithms are tailored to the specific characteristics of the sprayer’s operation, and simulation experiments are conducted under the corresponding operating conditions. Building upon this, a sensor-equipped experimental platform is set up in the self-propelled sprayer manufactured by the team in the preliminary stage. Real vehicle tests are conducted in two scenarios: transition transportation and field operations, with the evaluation of the overall vehicle speed serving as the performance metric to validate the correctness of the model and the control theory.

Keywords: self-propelled electric sprayer; cruise control system; four-wheel independent drive; longitudinal dynamic model; simulation; experiment (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: 2024
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