Mode switching torque distribution strategy of timely four-wheel driven high-gap plant protection machine
Keywords:
plant protection robot, torque distribution, mode switchingAbstract
The high-gap plant protection machine is taken in this paper as the research object to ensure the good driving power and safety of the high-gap plant protection machine, and the control strategy of inter-shaft torque distribution is established under different working conditions to improve vehicle power and lateral stability. The anticipated demand torque is initially determined based on the structural characteristics and operational principles of the plant protection machine. Subsequently, a hierarchical control framework is devised by incorporating a formulated switching control strategy. Finally, a simulation model for torque distribution control strategy between shafts is developed on the Matlab/Simulink platform, followed by simulation and experimental verification. The results are presented as follows: the inter-shaft torque distribution strategy established in this paper increases the average longitudinal acceleration by 0.13 m/s2 and 0.14 m/s2 under the control of low and high to low adhesion road surfaces, respectively. Under the control of the single-line shifting condition, the yaw velocity can successfully follow the expected value with a maximum value of 0.61 rad/s. The side deflection angle of the center of mass does not exceed 2.8°, which can follow the ideal trajectory and improve power and safety. Key words: plant protection robot; torque distribution; mode switching DOI: 10.25165/j.ijabe.20241704.8752 Citation: Zhang H J, Guan M W, Ji G J, Hussain G, Xiao M H, Zhu Y J. Mode switching torque distribution strategy of timely four-wheel driven high-gap plant protection machine. Int J Agric & Biol Eng, 2024; 17(4): 176–184.References
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[23] Jalali M, Hashemi E, Khajepour A, Chen S, Litkouhi B. Integrated model predictive control and velocity estimation of electric vehicles. Mechatronics, 2017; 46: 84–100.
[24] Suzuki R, Ikeda Y. Driving/braking force distribution of four wheel vehicle by quadratic programming with constraints. In 49th IEEE Conference on Decision and Control (CDC), IEEE, 2010; pp.4882–4889.
[25] Didikov R, Dobretsov R, Galyshev Y. Power distribution control in the transmission of the perspective wheeled tractor with automated gearbox. Energy Management of Municipal Transportation Facilities and Transport. Cham: Springer International Publishing, 2017; 192–200.
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[27] Middleton N. The global casino: an introduction to environmental issues. Routledge, 2018.
[28] Yao Q, Tian Y. A model predictive controller with longitudinal speed compensation for autonomous vehicle path tracking. Applied sciences, 2019; 9(22): 4739.
[29] Gim G. An analytical model of pneumatic tyres for vehicle dynamic simulations. Part 2: Comprehensive slips. International Journal of Vehicle Design, 1991; 12(1): 19–39.
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[31] Gim G, Nikravesh P E. An analytical model of pneumatic tyres for vehicle dynamic simulations. Part 1: Pure slips. International Journal of Vehicle Design, 1990; 11(6): 589–618.
[32] Ohba M, Suzuki H, Yamamoto T, Takuno H. Development of a new electronically controlled 4WD system: Toyota active torque control 4WD. SAE Transactions, 1999; 1999-01-0744.
[33] Hu J J, Liu H, He Z B. Effect of drive force distribution control on vehicle steering driving stability. China Journal of Highway and Transport, 2013; 26: 183–190.
[34] Zhou D, Hou P, Xin Y, Lv X, Wu B, Yu H, et al. Study on the control of torque distribution of 4wd corn harvester operation drive. Applied Sciences, 2021; 11(19): 9152.
[35] Hancock M J, Williams R A, Fina E, Best M C. Yaw motion control via active differentials. Transactions of the Institute of Measurement and Control, 2007; 29(2): 137–157.
[36] Park J, Jang I G, Hwang S H. Torque distribution algorithm for an independently driven electric vehicle using a fuzzy control method: Driving stability and efficiency. Energies, 2018; 11(12): 3479.
[37] Feng N L, Zheng M Q, Ma B. Dynamic performance simulation of power shift clutch during shift. Journal of Beijing Institute of Technology, 2000; 9(4): 445–450.
[2] Wang Y J, Yang F Z, Pan G T, Liu H Y, Zhang J Q. Design and testing of a small remote-control hillside tractor. Transactions of the ASABE, 2014; 57(2): 363–370.
[3] Sun C, Nakashima H, Shimizu H, Miyasaka J, Ohdoi K. Physics engine application to overturning dynamics analysis on banks and uniform slopes for an agricultural tractor with a rollover protective structure. Biosystems Engineering, 2019; 185: 150–160.
[4] Qi W C, Li Y M, Zhang J H, Qin C J, Liu C L, Yin Y P. Double closed loop fuzzy PID control method of tractor body leveling on hilly and mountainous areas. Transactions of the CSAM, 2019; 50(10): 17–23, 34. (in Chinese)
[5] Geng A J, Zhang M, Zhang J, Zhang Z L, Gao A, Zhen J L. Design and experiment of automatic control system for corn header height. Transactions of the CSAM, 2020; 51(S2): 118–125. (in Chinese)
[6] Janulevicius A, Juostas A, Pupinis G. Estimation of tractor wheel slippage with different tire pressures for 4WD and 2WD driving systems. Engineering for Rural Development, 2019; 22(96): 88–93.
[7] Hayat S, Ahmed S, Tanveer-ul-Haq, Jan S, Mehtab Q, Zeeshan N, et al. Hybrid control of PV-FC electric vehicle using Lyapunov based theory. International Journal of Advanced Computer Science and Applications, 2019; 10(10): 539–549.
[8] Piyabongkarn D, Lew J Y, Rajamani R, Grogg J A. Active driveline torque-management systems. IEEE Control Systems Magazine, 2010; 30(4): 86–102.
[9] Li B, Goodarzi A, Khajepour A, Chen S, Litkouhi B. An optimal torque distribution control strategy for four-independent wheel drive electric vehicles. Vehicle System Dynamics, 2015; 53(8): 1172–1189.
[10] Arash M, Basilio L, Aldo S, Patrick G, Saber F, Jasper D. A fast and parametric torque distribution strategy for four-wheel-drive energy-efficient electric vehicles. IEEE Transactions on Industrial Electronics, 2016; 63(7): 4367–4376.
[11] Cao K B, Hu M H, Wang D Y, Qiao S P, Guo C, Fu C Y, et al. All-wheel-drive torque distribution strategy for electric vehicle optimal efficiency considering tire slip. IEEE Access, 2021; 9: 25245–25257.
[12] Yan X, Zhang H, Li X, Li Y, Xu L. Control strategy of torque distribution for hybrid four-wheel drive tractor. World Electric Vehicle Journal, 2023; 14(7): 190.
[13] Peng B, Zhang H, Xuan F, Xiao W. Torque distribution strategy of electric vehicle with in-wheel motors based on the identification of driving intention. Automotive Innovation, 2018; 1: 140–146.
[14] Chen LQ, Tan YD, Wu R, Miao W, Hu F. Torque distribution control strategy of electronically controlled four-wheel drive axle based on genetic algorithm. Transactions of the CSAM, 2017; 48(7): 361–367.
[15] Wong A, Kasinathan D, Khajepour A, Chen S, Litkouhi B. Integrated torque vectoring and power management framework for electric vehicles. Control Engineering Practice, 2016; 48: 22–36.
[16] Novellis D, Sorniotti A, Gruber P. Wheel torque distribution criteria for electric vehicles with torque-vectoring differentials. IEEE Transactions on Vehicular Technology, 2013; 63(4): 1593–1602.
[17] Lee H. Four-wheel drive control system using a clutchless centre limited slip differential. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2006; 220(6): 665–681.
[18] Wang J H, Wang Y C, Fu T J, Zhang B S. A study on the effect of torque sensing LSD on the handling and stability of a RWD vehicle. Automotive Engineering, 2006; 28(5): 460–464, 476.
[19] Zhou D, Hou P, Xin Y, Lv X, Wu B, Yu H, et al. Study on the control of torque distribution of 4wd corn harvester operation drive. Applied Sciences, 2021; 11(19): 9152.
[20] Wheals J C, Deane M, Drury S, Griffith G, Harman P, Parkinson R, et al. Design and simulation of a torque vectoring™ rear axle. SAE Technical Paper, 2006; 2006-01-0818.
[21] Hancock M, Williams R, Gordon T, Best M. A comparison of braking and differential control of road vehicle yaw-sideslip dynamics. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2005; 219(3): 309–327.
[22] Bianchi D, Borri A, Di Benedetto MD, Di Gennaro S, Burgio G. Adaptive integrated vehicle control using active front steering and rear torque vectoring. International Journal of Vehicle Autonomous Systems, 2010; 8(2-4): 85–105.
[23] Jalali M, Hashemi E, Khajepour A, Chen S, Litkouhi B. Integrated model predictive control and velocity estimation of electric vehicles. Mechatronics, 2017; 46: 84–100.
[24] Suzuki R, Ikeda Y. Driving/braking force distribution of four wheel vehicle by quadratic programming with constraints. In 49th IEEE Conference on Decision and Control (CDC), IEEE, 2010; pp.4882–4889.
[25] Didikov R, Dobretsov R, Galyshev Y. Power distribution control in the transmission of the perspective wheeled tractor with automated gearbox. Energy Management of Municipal Transportation Facilities and Transport. Cham: Springer International Publishing, 2017; 192–200.
[26] Wong J Y. Theory of ground vehicles. John Wiley & Sons, 2022.
[27] Middleton N. The global casino: an introduction to environmental issues. Routledge, 2018.
[28] Yao Q, Tian Y. A model predictive controller with longitudinal speed compensation for autonomous vehicle path tracking. Applied sciences, 2019; 9(22): 4739.
[29] Gim G. An analytical model of pneumatic tyres for vehicle dynamic simulations. Part 2: Comprehensive slips. International Journal of Vehicle Design, 1991; 12(1): 19–39.
[30] Gim G, Nikravesh P E. An analytical model of pneumatic tyres for vehicle dynamic simulations. Part 3: Validation against experimental data. International Journal of Vehicle Design, 1991; 12(2): 217–228.
[31] Gim G, Nikravesh P E. An analytical model of pneumatic tyres for vehicle dynamic simulations. Part 1: Pure slips. International Journal of Vehicle Design, 1990; 11(6): 589–618.
[32] Ohba M, Suzuki H, Yamamoto T, Takuno H. Development of a new electronically controlled 4WD system: Toyota active torque control 4WD. SAE Transactions, 1999; 1999-01-0744.
[33] Hu J J, Liu H, He Z B. Effect of drive force distribution control on vehicle steering driving stability. China Journal of Highway and Transport, 2013; 26: 183–190.
[34] Zhou D, Hou P, Xin Y, Lv X, Wu B, Yu H, et al. Study on the control of torque distribution of 4wd corn harvester operation drive. Applied Sciences, 2021; 11(19): 9152.
[35] Hancock M J, Williams R A, Fina E, Best M C. Yaw motion control via active differentials. Transactions of the Institute of Measurement and Control, 2007; 29(2): 137–157.
[36] Park J, Jang I G, Hwang S H. Torque distribution algorithm for an independently driven electric vehicle using a fuzzy control method: Driving stability and efficiency. Energies, 2018; 11(12): 3479.
[37] Feng N L, Zheng M Q, Ma B. Dynamic performance simulation of power shift clutch during shift. Journal of Beijing Institute of Technology, 2000; 9(4): 445–450.
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Published
2024-09-06
How to Cite
Zhang, H., Guan, M., Ji, G., Hussain, G., Xiao, M., & Zhu, Y. (2024). Mode switching torque distribution strategy of timely four-wheel driven high-gap plant protection machine. International Journal of Agricultural and Biological Engineering, 17(4), 176–184. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/8752
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Power and Machinery Systems
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