Research on considering tracking performance and riding comfort for intelligent tractor based on hierarchical cooperative control

作者：Junjiang Zhang, Liyou Xu, Haitao Liu, Mengnan Liu, Dongqing Wang, Xianghai Yan · 发表于：Computers and Electronics in Agriculture · 年份：2025 · DOI：10.1016/j.compag.2025.110912 · 被引用次数：2 · 研究领域：Vehicle Dynamics and Control Systems、Soil Mechanics and Vehicle Dynamics、Agriculture and Farm Safety

Tracking accuracy and ride comfort are important performance indicators of tractors. In order to improve the tracking performance and ride comfort of intelligent tractors at the same time, this paper proposes a tractor longitudinal-lateral-vertical hierarchical cooperative control method. Based on the kinematic principle, the longitudinal-lateral kinematic models are constructed. Considering the influence of actual velocity on road excitation, the vertical dynamics model is constructed by combining automobile system dynamics theory. In the longitudinal and lateral aspects, a steady-state transient hybrid operating condition trajectory tracking adaptive control method is proposed to improve the tracking accuracy; in the vertical aspect, an active seat suspension control method integrating velocity factors is proposed by using model predictive control to improve the ride comfort of tractors. Finally, the variable transfer of longitudinal and lateral and vertical control is realized through actual velocity, forming a tractor longitudinal-lateral-vertical hierarchical cooperative control method. In order to verify the superiority of the proposed method, the tractor longitudinal-lateral-vertical hierarchical cooperative control method is simulated and analyzed under random road excitation and S-curve trajectory with the coordinated control method formed by pure tracking control and proportional-integral-derivative control. The results indicate that the proposed control method can ...