Authors

Abstract

Aiming at the problem of poor adaptability and insufficient stability of ridge height caused by hilly terrain, this study designed an adaptive ridge height adjustment system for crawler ridger. By analyzing the process of ridging operation, the mathematical model of ridge height control is established, and the control strategy based on incremental PID is used to dynamically adjust the push rod expansion of hydraulic cylinder in real time, so as to realize the precise adjustment of machine lifting. Combined with the inertial measurement unit, the pitch angle and height information of the vehicle body are collected in real time, and the ridge height is dynamically compensated. The field experiment results show that when the target ridge height is 30 cm and 40 cm, the average standard deviation of ridge height is 0.98 cm and 0.97 cm respectively, and the qualified rate of ridge height is more than 94 %. It shows that the designed ridge height adaptive adjustment system can effectively track the height instruction, and significantly improve the ridge quality and operation stability under complex terrain.

Abstract in Chinese

针对丘陵山地地形起伏导致的起垄机适应性差及垄高稳定性不足的问题，本研究设计了一种履带式起垄机垄高自适应调节系统。通过分析起垄作业过程，建立垄高控制数学模型，采用基于增量式PID的控制策略实时动态调整液压缸推杆伸缩，实现了机具升降的精准调节。结合惯性测量单元实时采集车身俯仰角与高度信息，对起垄高度进行动态补偿。田间试验结果表明，在目标垄高为30 cm和40 cm时，垄高标准差平均值分别为0.98 cm和0.97 cm，垄高合格率均超过94%，表明所设计的垄高自适应调节系统能够有效跟踪高度指令，显著提高了复杂地形下的起垄质量与作业稳定性。