Authors

Abstract

TTo address the issue of increased fuel consumption and reduced efficiency caused by excessive slip of the drive wheels during tractor ploughing operations, this paper considered the time-varying, uncertain, and highly nonlinear characteristics of the tractor-operating unit. A nonlinear dynamic model was constructed and a nonlinear slip control method for the drive wheels was designed using sliding mode variable structure control (SMVSC). The method was validated and tested on both the MATLAB/Simulink platform and a hardware-in-the-loop (HIL) simulation platform based on dSPACE. The HILS results indicated that, compared to the fuzzy PID algorithm, under varying soil specific resistance pulses, the mean absolute deviation of slip rate was reduced by 0.013, and the response time decreased by approximately 1.3 seconds with the SMVSC method. In case of pulse variation in slip rate, the SMVSC method reduced the tracking response time by approximately 0.8 seconds and the average control overshoot by about 0.03. Under both experimental conditions, the SMVSC method demonstrated superior control performance, ensuring more stable tractor operation. These findings provide valuable insights for drive slip control in tractor ploughing operations.

Abstract in Chinese

为解决拖拉机犁耕作业时驱动轮过度滑转引起燃油消耗量增加和效率降低的问题，本文考虑拖拉机作业机组时变、不确定和强非线性特征，构建了非线性动力学模型并结合滑模变结构控制设计了驱动轮滑转非线性控制方法，分别在MATLAB/Simulink平台以及基于dSPACE搭建的硬件在环仿真平台进行验证测试。硬件在环测试结果表明，相比模糊PID算法，在土壤比阻脉冲变化时，SMVSC方法下滑转率的平均绝对值偏差减少了0.013，响应时间减少了约 1.3s；在滑转率脉冲变化时，SMVSC 方法的跟踪响应时间减少了约 0.8s，平均控制过冲减少了约 0.03。两种试验条件下，SMVSC的控制效果更佳且能够使拖拉机保持较稳定的作业状态，对于拖拉机犁耕作业中的驱动防滑控制具有一定的参考意义。