Research on the Design of an Omnidirectional Leveling System and Adaptive Sliding Mode Control for Tracked Agricultural Chassis in Hilly and Mountainous Terrain

Renkai Ding (), Xiangyuan Qi, Xuwen Chen, Yixin Mei, Anze Li, Ruochen Wang and Zhongyang Guo
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Renkai Ding: Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China
Xiangyuan Qi: Faculty of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
Xuwen Chen: Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China
Yixin Mei: School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China
Anze Li: Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China
Ruochen Wang: School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China
Zhongyang Guo: Jiangsu Chaoli Electric Manufacture Co., Ltd., Zhenjiang 212013, China

Agriculture, 2025, vol. 15, issue 18, 1-28

Abstract: To address the suboptimal leveling performance and insufficient slope stability of existing agricultural machinery chassis in hilly and mountainous regions, this study proposes an innovative omnidirectional leveling system based on a “double-layer frame” crawler-type agricultural chassis. The system employs servo-electric cylinders as its actuation components. A control model for the servo-electric cylinders has been established, accompanied by the design of an adaptive sliding mode controller (ASMC). A co-simulation platform was developed utilizing Matlab/Simulink and Adams to evaluate system performance. Comparative simulations were conducted between the ASMC and a conventional PID controller, followed by comprehensive machine testing. Experimental results demonstrate that the proposed double-layer frame crawler chassis achieves longitudinal leveling adjustments of up to 25° and lateral adjustments of 20°. Through structural optimization and the application of ASMC (in contrast to PID), both longitudinal and lateral leveling response times were reduced by 1.12 s and 0.95 s, respectively. Furthermore, leveling velocities increased by a factor of 1.5 in the longitudinal direction and by a factor of 1.3 in the lateral direction, while longitudinal and lateral angular accelerations decreased by 15.8% and 17.1%, respectively. Field tests confirm the system’s capability for adaptive leveling on inclined terrain, thereby validating the enhanced performance of the proposed omnidirectional leveling system.

Keywords: hilly and mountainous terrain; agricultural machinery chassis; double-layer frame; omnidirectional leveling system; sliding mode 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: 2025
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