Electric tractors(ETs)with mounted implements form operating units.There are significant differences in parameters such as shape,firmness,and moisture content of the soil in contact with the tractor and implements whe...Electric tractors(ETs)with mounted implements form operating units.There are significant differences in parameters such as shape,firmness,and moisture content of the soil in contact with the tractor and implements when working in complex terrains such as field stubble,waterlogged silt,and loose/firm terrain.These differentiated dynamics prevent cooperation between ETs and operating implements under independent control,resulting in poor quality operations and low energy efficiency.We propose a control mechanism for ETs and implements to achieve full life cycle management of collaborative control tasks,instantaneous intertask interaction,and a multitask synchronization mechanism.To address the internal redundant communication problems caused by traditional distributed microcontrol units,we break through the underlying technology of unit data processing and interaction and develop an integrated high-performance controller structure with high processing capacity and high-and low-speed communication interfaces.On the basis of hierarchical stepwise control theory,a hierarchical real-time operating system is designed.This system realizes a preemptive kernel response of computational tasks and competitive-collaborative synchronization among tasks;overcomes the low-latency response of collaborative control tasks,instantaneous information interaction,and multitask synchronization problems;and provides system-level support for deep collaborative operation control of units.To demonstrate and validate the proposed collaborative control mechanism,a plowing collaborative operation management strategy is designed and deployed.The experimental results show that the communication delay of collaborative tasks is as low as 83μs,the solution time of complex collaborative equations is as low as 46 ms,the mechanical efficiency of the ET is increased by 9.07%,the efficiency of the drive motor is increased by 9.72%,the stability of the operation speed is increased by 106.25%,and the stability of the plowing depth reaches 94.98%.Our work meets the hardware and software requirements for realizing complex collaborative control of ET units and improves the operational quality and operational energy efficiency in real vehicle demonstrations.展开更多
Aiming at the problem that the draft-position integrated tillage depth control method with fixed comprehensive coefficient of tractor electro-hydraulic hitch system is difficult to adapt to the working environment wit...Aiming at the problem that the draft-position integrated tillage depth control method with fixed comprehensive coefficient of tractor electro-hydraulic hitch system is difficult to adapt to the working environment with large changes in soil conditions,a tractor draft-position integrated tillage depth control method with variable comprehensive coefficient was proposed.A comprehensive coefficient control scheme based on traction resistance was designed and its working principle was clarified.Aiming at the time-varying tillage depth control system,a tillage depth control algorithm based on the sliding mode control with a differential observer was designed.In order to verify the performance of the control scheme,a control system simulation model and a bench test platform were built,and the performance was compared with the draft-position integrated control method with a fixed comprehensive coefficient of 0.5.The results showed that the variable comprehensive coefficient tillage depth control method can automatically adjust the comprehensive coefficient according to the change of soil conditions,and has higher traction efficiency.In the small resistance range,it can better ensure the quality of operation;in the large resistance range,it can ensure the engine performance and protect the tractor from damage.This method is more adaptable to the complex field operation environment,which provides a reference for the research of tillage depth control method.展开更多
基金supported by the National Key Research and Development Plan of China(2022YFD2001202)the National Natural Science Foundation of China(32301719 and 52272444)the 2115 Talent Development Program of China Agricultural University.
文摘Electric tractors(ETs)with mounted implements form operating units.There are significant differences in parameters such as shape,firmness,and moisture content of the soil in contact with the tractor and implements when working in complex terrains such as field stubble,waterlogged silt,and loose/firm terrain.These differentiated dynamics prevent cooperation between ETs and operating implements under independent control,resulting in poor quality operations and low energy efficiency.We propose a control mechanism for ETs and implements to achieve full life cycle management of collaborative control tasks,instantaneous intertask interaction,and a multitask synchronization mechanism.To address the internal redundant communication problems caused by traditional distributed microcontrol units,we break through the underlying technology of unit data processing and interaction and develop an integrated high-performance controller structure with high processing capacity and high-and low-speed communication interfaces.On the basis of hierarchical stepwise control theory,a hierarchical real-time operating system is designed.This system realizes a preemptive kernel response of computational tasks and competitive-collaborative synchronization among tasks;overcomes the low-latency response of collaborative control tasks,instantaneous information interaction,and multitask synchronization problems;and provides system-level support for deep collaborative operation control of units.To demonstrate and validate the proposed collaborative control mechanism,a plowing collaborative operation management strategy is designed and deployed.The experimental results show that the communication delay of collaborative tasks is as low as 83μs,the solution time of complex collaborative equations is as low as 46 ms,the mechanical efficiency of the ET is increased by 9.07%,the efficiency of the drive motor is increased by 9.72%,the stability of the operation speed is increased by 106.25%,and the stability of the plowing depth reaches 94.98%.Our work meets the hardware and software requirements for realizing complex collaborative control of ET units and improves the operational quality and operational energy efficiency in real vehicle demonstrations.
基金National Key Research and Development Plan of China(Grant No.2022YFD2001202)The Open Project of the State Key Laboratory of Intelligent Agricultural Power Equipment(SKLIAPE2023019)The Postgraduate Research and Practice Innovation Program of Jiangsu Province,China(Grant No.KYCX22_0716).
文摘Aiming at the problem that the draft-position integrated tillage depth control method with fixed comprehensive coefficient of tractor electro-hydraulic hitch system is difficult to adapt to the working environment with large changes in soil conditions,a tractor draft-position integrated tillage depth control method with variable comprehensive coefficient was proposed.A comprehensive coefficient control scheme based on traction resistance was designed and its working principle was clarified.Aiming at the time-varying tillage depth control system,a tillage depth control algorithm based on the sliding mode control with a differential observer was designed.In order to verify the performance of the control scheme,a control system simulation model and a bench test platform were built,and the performance was compared with the draft-position integrated control method with a fixed comprehensive coefficient of 0.5.The results showed that the variable comprehensive coefficient tillage depth control method can automatically adjust the comprehensive coefficient according to the change of soil conditions,and has higher traction efficiency.In the small resistance range,it can better ensure the quality of operation;in the large resistance range,it can ensure the engine performance and protect the tractor from damage.This method is more adaptable to the complex field operation environment,which provides a reference for the research of tillage depth control method.
