Authors

Abstract

To address the challenges of lateral instability and inconsistent planting depth for transplanters operating on uneven terrain, this study develops a dual-objective synergistic control system that integrates lateral leveling and longitudinal profiling. A kinematic model identified significant coupling between these motions. To effectively decouple them and reject disturbances, a novel Super-Twisting Sliding Mode Active Disturbance Rejection Control (ST-SMC-ADRC) strategy is proposed. Co-simulation and field tests demonstrated that the ST-SMC-ADRC controller significantly outperforms conventional PID and standard ADRC. It achieved faster response, reduced steady-state error, and superior disturbance rejection, resulting in a more stable platform attitude and highly consistent planting depth under dynamic field conditions. The system proves to be a robust solution for enhancing transplanter performance on complex slopes.

Abstract in Chinese

为解决移栽机在不平坦地形上作业产生的横向不稳定和纵向种植深度不一致的问题，本研究开发了一种集横向平整和纵向仿形为一体的双目标协同控制系统。运动学模型确定调平与仿形之间存在耦合。为有效地解耦并抑制干扰，提出超螺旋滑膜自抗扰控制（STSMC-ADRC）策略。试验表明，STSMC-ADRC控制器的性能明显优于传统PID和标准ADRC。实现更快响应、较小的稳态误差和卓越的抗扰动能力，从而在动态田间条件下实现更稳定的平台姿态和高度一致的种植深度。该系统被证明是提高移栽机在复杂斜坡上性能的稳健解决方案。