Authors

Abstract

To address the insufficient driving stability of dual-pump dual-motor hydraulic systems in tracked tobacco harvesters, this study proposes a dual-mode cooperative control strategy comprising straight-line and steering modes. In the straight-line mode, a cross-coupled fuzzy PID synchronization control layer is integrated into the existing single-channel fuzzy PID speed control loop. This configuration enforces synchronous operation of the two motors and significantly enhances speed tracking accuracy. In the steering mode, an inner-track deceleration differential control scheme is implemented to reduce the speed of the inner crawler, thereby achieving smoother turning motion. Cement pad tests were conducted to evaluate the performance of the proposed control strategy. The experimental results indicate that, compared with the conventional PID control strategy, the single-channel fuzzy PID control strategy reduces the steady-state error during straight-line motion by 46%–70%. Furthermore, the dual-loop fuzzy PID control strategy incorporating the cross-coupled synchronization layer decreases the steady-state error by 62% relative to the parallel PID control strategy. Overall, the proposed controller provides a robust control solution for dual-pump dual-motor hydraulic drive systems and offers a valuable reference for the development of high-performance tracked agricultural vehicles.

Abstract in Chinese

该研究针对履带式烟草收获机双泵-双马达液压驱动系统行驶稳定性差的问题，提出一种“直线-转向”双工况的协同控制新方法。直线行驶时，在单通道液压马达模糊 PID 控制器基础上引入交叉耦合模糊 PID 同步策略，实现双马达转速同步输出，显著提升直线作业的稳定性与精度；转向时采用内侧减速差动转向模式，通过主动降低内侧履带速度实现平稳转弯。水泥硬路面试验表明：与传统 PID 相比，模糊PID控制较常规PID在直线行驶稳态误差上降低46%至70%，双闭环模糊PID较并行式PID误差减少62%，该方法增强了整机行驶稳定性与准确性，为双泵-双马达液压驱动系统提供了可靠解决方案，为推动高效农业装备发展提供了参考