Design and test of the anti-skid system for self-propelled high-stem crop sprayers
Keywords:
self-propelled sprayer, high-stem crops, drive anti-skid, PID control, Matlab, SimulinkAbstract
Aiming at the problem of skidding in the operation of a self-propelled high-stem crop sprayer due to uneven road surface and uneven distribution of soil cohesive force, This study proposed a four-wheel drive hydraulic anti-skid control system based on RTM valve. Through theoretical analysis of control components such as the RTM valve and steering cylinder, the control model of the anti-skid drive system of the spray machine is established, and the simulation test is carried out in Matlab/Simulink. The simulation results show that the slip rate of the anti-skid drive system based on the PID control strategy is controlled below 0.05, and the RTM valve keeps the driving pressure of the system basically stable. In order to verify the reliability of the simulation results, the designed drive anti-skid control system was carried out on a spray machine for the field test. The experimental results show that the slip rate of the drive anti-skid system decreases from 86.7% to 1.25% when the anti-skid function is turned on, indicating that the designed drive anti-skid system has good anti-skid performance. Keywords: self-propelled sprayer, high-stem crops; drive anti-skid, PID control, Matlab, Simulink DOI: 10.25165/j.ijabe.20231606.5825 Citation: Wen H J, Liu X Y, Yi Z T, Li Z X. Design and test of the anti-skid system for self-propelled high-stem crop sprayers. Int J Agric & Biol Eng, 2023; 16(6): 20–27.References
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[25] Song B T. Research on acceleration slip regulation control strategy of dual-motor four-wheel drive electric vehicle. Master dissertation. Zibo: Shandong University of Technology, 2022; 74p. (in Chinese)
[2] Zhang C L, Li C P, Zhao C Z, Li L, Gao G L, Chen X Y. Design of hydrostatic chassis drive system for large plant protection machine. Agriculture, 2022; 12(8): 1118.
[3] Lu L Q, Liu B, Mao E R, Song Z H, Chen J, Chen Y. Design and optimization of high ground clearance self-propelled sprayer chassis frame. Agriculture, 2023; 13(2): 233.
[4] Zhang Z, Liu C G, Ma X J, Zhang Y Y, Chen L M. Driving force coordinated control of an 8×8 in-wheel motor drive vehicle with tire-road friction coefficient identification. Defence Technology, 2022; 18(1): 119–132.
[5] Guo N Y, Zhang X D, Zou Y, Lenzo B, Zhang T, Gohlich D. A fast model predictive control allocation of distributed drive electric vehicles for tire slip energy saving with stability constraints. Control Engineering Practice, 2020; 102: 104554.
[6] Fukui J, Miyazaki T. Speed control method for tilling claw of electric tiller considering actual periodic reaction torque. IEEJ Journal of Industry Applications, 2019; 8(3): 539–547.
[7] Chen Q H. Study on anti-slip control for heavy-haul locomotives under complex wheel/rail friction conditions. Journal of Mechanical Engineering, 2023; 59(10): 179–186. (in Chinese)
[8] Chen L Q, Wang P P, Zhang P, Zheng Q, He J, Wang Q J. Performance analysis and test of a maize inter-row self-propelled thermal fogger chassis. Int J Agric & Biol Eng, 2018; 11(5): 100–107.
[9] Fu T. Research on driving anti-skid control technology of paddy field self-propelled sprayer. Master dissertation. Beijing: Chinese Academy of Agricultural Mechanization Science, 2018; 82p. (in Chinese)
[10] Liao Z L, Liu D, Yang G B, Chen L M. Integrated control of ABS and ASR for multi-wheel independent electric drive vehicle. Journal of Mechatronical & Electrical Engineering, 2018; 35(5): 494–500. (in Chinese)
[11] Guo H, Chen H F, Liu Q G, Xu Z Q, Gao G M, Xu X B. Design and research on hydraulic system of high gap wheel self-propelled sprayer. Journal of Agricultural Mechanization Research, 2018; 40(10): 51–56. (in Chinese)
[12] Liao Z L, Cai L C, Liu C G. Simulation research on anti-skid control electric vehicle driven by four wheel independent drive. Modern Information Technology, 2018; 2(2): 41–43. (in Chinese)
[13] Gao X, Guo J, Zhu Z, Han S. Design of power transmission system of high-clearance self-propelled sprayer. Journal of Agricultural Mechanization Research, 2017; 39(4): 247–251, 268. (in Chinese)
[14] Zhang H, Zheng J Q. Position control of electro-hydraulic actuator system for flexible sprayer chassis using fuzzy PID controller. Journal of Nanjing Forestry University (Natural Sciences Edition), 2017; 41(1): 163–169. (in Chinese)
[15] Wu N N. Research on structural analysis and dynamic simulation of a new type of differential. Master dissertation. Taiyuan: Taiyuan University of Science and Technology, 2013; 73p. (in Chinese)
[16] Ding L. Highland gap sprayer walking hydraulic drive system design research. Master dissertation. Shihezi: Shihezi University, 2016; 81p. (in Chinese)
[17] Yu Z P, Wang Y B, Xiong L, Leng B. Analysis of the effect of anti-skid control of distributed-drive electric bus. Automotive Technology, 2016; 3: 18–25.
[18] Li G X, Ren Z Q. Design and test of voltage stabilization for sprayer spray system. Xinjiang Agricultural Mechanization, 2016(1): 21–22, 27.
[19] Wu Z B, Xie ., Chi R J, Yue F, Mao E R. Active modulation of torque distribution for dual-motor front- and rear-axle drive type electric vehicle based on slip ratio. Transactions of the CSAE, 2018; 34(15): 66–76. (in Chinese)
[20] Wang S T, Zhang X, Xie Z, Zhang X. Research on anti-skid control of wheel-driven electric vehicles based on road recognition. China Automobile Engineering Society. 2015 China Automobile Engineering Society Annual Meeting Proceedings (Volume1). China Automotive Engineering Society: China Automotive Engineering Society, 2015; pp.149–153.
[21] Wang J, He R. Hydraulic anti-lock braking control strategy of a vehicle based on a modified optimal sliding mode control method. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2019; 233(12): 3185–3198.
[22] Cao H F, Zhou J, Chen W, Lin Y, Li H P. Research on anti-sliding test method based on simulation technology. Railway Locomotives & Car, 2015; 35(3): 11–16. (in Chinese)
[23] Feng Y B, Yang J, Ji Z Y, Zhang W M. Fuzzy anti-slip control based on optimal slip control. Transactions of CSAE, 2015; 31(8): 119–125. (in Chinese)
[24] Li X W, Li Q A. Steering skid control system of high ground clearance hydraulic four-wheel drive sprayer. Science & Technology and Enterprise, 2015; 2: 254. (in Chinese)
[25] Song B T. Research on acceleration slip regulation control strategy of dual-motor four-wheel drive electric vehicle. Master dissertation. Zibo: Shandong University of Technology, 2022; 74p. (in Chinese)
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Published
2024-02-06
How to Cite
Wen, H., Liu, X., Yi, Z., & Li, Z. (2024). Design and test of the anti-skid system for self-propelled high-stem crop sprayers. International Journal of Agricultural and Biological Engineering, 16(6), 20–27. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/5825
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Applied Science, Engineering and Technology
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