Travel Reduction Control of Distributed Drive Electric Agricultural Vehicles Based on Multi-Information Fusion

Chenyang Sun, Pengfei Sun, Jun Zhou and Jiawen Mao
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Chenyang Sun: Jiangsu Province Key Laboratory of Intelligent Agricultural Equipment, College of Engineering, Nanjing Agricultural University, Nanjing 210031, China
Pengfei Sun: Jiangsu Province Key Laboratory of Intelligent Agricultural Equipment, College of Engineering, Nanjing Agricultural University, Nanjing 210031, China
Jun Zhou: Jiangsu Province Key Laboratory of Intelligent Agricultural Equipment, College of Engineering, Nanjing Agricultural University, Nanjing 210031, China
Jiawen Mao: Jiangsu Province Key Laboratory of Intelligent Agricultural Equipment, College of Engineering, Nanjing Agricultural University, Nanjing 210031, China

Agriculture, 2022, vol. 12, issue 1, 1-17

Abstract: In agricultural vehicles with internal combustion engines, owing to the use of rear-wheel drive or four-wheel drive, it is difficult to obtain information regarding the slip of the driving wheels. Excessive wheel slip, an inevitable phenomenon occurring during agricultural activities, can easily damage the original soil surface and result in excessive energy consumption. To solve these problems, a distributed drive agricultural vehicle (DDAV) based on multi-information fusion was proposed. The actual travel reduction of each wheel was calculated by determining the vehicle parameters in order to deliver the required torque to the four drive wheels via sliding mode control (SMC) and incremental proportional-integral (PI) control. Through this process, the vehicle always operates in a straight line. Test results show that, on a uniform surface, the travel reduction of each wheel can be maintained at the target value by using the incremental PI control strategy, with only minor fluctuations, to make the vehicle run in a straight line ( R 2 = 0.9999). Furthermore, on a separated surface, the travel reduction of each wheel can be maintained at the target value, and using the SMC strategy enables more identical coefficient of gross tractions for each wheel to make the vehicle run in a straight line ( R 2 = 0.9902). Unlike the non-control strategy, the vehicle reaches a stable state within 1 s, owing to the use of a controller that can effectively reduce the impact of road changes on vehicle velocity. This study can provide a reference for the drive control of DDAVs.

Keywords: travel reduction; distributed drive agricultural vehicles; sliding mode control; incremental PI control; coefficient of gross traction (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 complete reference list from CitEc
Citations: View citations in EconPapers (1)

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