Research on Distributed Dual-Wheel Electric-Drive Fuzzy PI Control for Agricultural Tractors

Qian Zhang, Caiqi Hu () and Rui Li
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Qian Zhang: College of Mechanical and Electrical Engineering, Qingdao Agricultural University, Qingdao 266109, China
Caiqi Hu: College of Mechanical and Electrical Engineering, Qingdao Agricultural University, Qingdao 266109, China
Rui Li: College of Mechanical and Electrical Engineering, Qingdao Agricultural University, Qingdao 266109, China

Agriculture, 2024, vol. 14, issue 9, 1-19

Abstract: In order to solve the problem that, when the vehicle speed of an agricultural distributed dual-wheel electric-drive tractor changes or the system is disturbed by off-load, the traditional PI control cannot be adjusted in time, resulting in the overshoot of steering control or control delay, meaning it then cannot travel along the target trajectory quickly and accurately, a parameter-adaptive dual-dimensional fuzzy PI speed and steering adjustment controller was proposed, which can adjust the PI parameters in real time based on the deviation between vehicle speed, steering, and reference value, as well as the rate of deviation change. Firstly, based on the operational characteristics of agricultural tractors, a dynamic model of a distributed dual-wheel tractor was established, and a hardware-in-the-loop (HIL) test bench was set up. Fuzzy PI controller algorithms for vehicle speed and steering were designed and developed. In addition, simulations and tests were carried out under no-load and off-load tractor operating conditions with MATLAB/Simulink, respectively. The results indicate that, compared with a traditional PI controller, the fuzzy PI controller exhibits a faster control response and better robustness, reducing overshoot by approximately 60% and the steady-state response time by approximately 25%. When subjected to off-load disturbances, the maximum trajectory offset is controlled within 0.08 m, and the maximum trajectory offset is reduced by 45% compared with a traditional PI controller; therefore, the fuzzy PI control algorithm proposed in this paper makes the tractor’s running trajectory more stable and has stronger anti-interference ability towards off-load disturbances.

Keywords: new energy agricultural equipment; distributed drive; fuzzy PI; anti-interference; MATLAB/Simulink; HIL test (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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