Tillage depth regulation system via depth measurement feedback and composite sliding mode control: A field comparison validation study

作者：Anzhe Wang, Xin Ji, Yongyun Zhu, Qingzhuang Wang, Xinhua Wei, Shaocen Zhang · 发表于：Measurement and Control · 年份：2023 · DOI：10.1177/00202940231216139 · 被引用次数：15 · 研究领域：Soil Mechanics and Vehicle Dynamics、Agricultural Engineering and Mechanization、Soil Management and Crop Yield

The existing methodologies employed for the quantification and regulation of tractor’s tillage depth present considerable shortcomings, primarily characterized by their low accuracy and poor disturbance rejection proficiency in complex agricultural terrains. In this study, we present a sophisticated feedback control strategy designed to mitigate these challenges. Our innovative approach hinges on calculating tillage depth from the alignment of the tractor’s hydraulic lifting arm, achieved by employing a mechanical angle sensor. This sensor adeptly gages the angle of the lifting arm, aligning it with the tillage angle of the pull rod and the implement’s angle, resulting in a robust relational model correlating the lifting arm angle with the tillage depth. This pioneering method amalgamates the accuracy inherent in the static model, derived from the tillage angle-based depth measurement, with the dynamic stability afforded by the mechanical ascertainment of the lifting arm angle. In conjunction, we introduce a Hybrid Extended State Observer-Based Backstepping Sliding Mode Controller (HESO-BacksteppingSMC). The HESO is instrumental in estimating unmeasured state variables and lumped disturbances, utilizing the system’s output feedback signal. Our control frame component capitalizes on the fast power-reaching law to yield a continuously smooth control signal, effectively eradicating the conventional chattering phenomenon inherent in controllers and amplifying its functional appli...