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Research on Distributed Dual-Wheel Electric-Drive Fuzzy PI Control for Agricultural Tractors

Author

Listed:
  • Qian Zhang

    (College of Mechanical and Electrical Engineering, Qingdao Agricultural University, Qingdao 266109, China)

  • Caiqi Hu

    (College of Mechanical and Electrical Engineering, Qingdao Agricultural University, Qingdao 266109, China)

  • Rui Li

    (College of Mechanical and Electrical Engineering, Qingdao Agricultural University, Qingdao 266109, China)

Abstract

In order to solve the problem that, when the vehicle speed of an agricultural distributed dual-wheel electric-drive tractor changes or the system is disturbed by off-load, the traditional PI control cannot be adjusted in time, resulting in the overshoot of steering control or control delay, meaning it then cannot travel along the target trajectory quickly and accurately, a parameter-adaptive dual-dimensional fuzzy PI speed and steering adjustment controller was proposed, which can adjust the PI parameters in real time based on the deviation between vehicle speed, steering, and reference value, as well as the rate of deviation change. Firstly, based on the operational characteristics of agricultural tractors, a dynamic model of a distributed dual-wheel tractor was established, and a hardware-in-the-loop (HIL) test bench was set up. Fuzzy PI controller algorithms for vehicle speed and steering were designed and developed. In addition, simulations and tests were carried out under no-load and off-load tractor operating conditions with MATLAB/Simulink, respectively. The results indicate that, compared with a traditional PI controller, the fuzzy PI controller exhibits a faster control response and better robustness, reducing overshoot by approximately 60% and the steady-state response time by approximately 25%. When subjected to off-load disturbances, the maximum trajectory offset is controlled within 0.08 m, and the maximum trajectory offset is reduced by 45% compared with a traditional PI controller; therefore, the fuzzy PI control algorithm proposed in this paper makes the tractor’s running trajectory more stable and has stronger anti-interference ability towards off-load disturbances.

Suggested Citation

  • Qian Zhang & Caiqi Hu & Rui Li, 2024. "Research on Distributed Dual-Wheel Electric-Drive Fuzzy PI Control for Agricultural Tractors," Agriculture, MDPI, vol. 14(9), pages 1-19, August.
    • Handle: RePEc:gam:jagris:v:14:y:2024:i:9:p:1442-:d:1463298
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    References listed on IDEAS

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    1. Gustavo Cevallos & Marco Herrera & Ramon Jaimez & Hanna Aboukheir & Oscar Camacho, 2022. "A Practical Hybrid Control Approach for a Greenhouse Microclimate: A Hardware-in-the-Loop Implementation," Agriculture, MDPI, vol. 12(11), pages 1-28, November.
    2. Zhen Zhu & Lingxin Zeng & Long Chen & Rong Zou & Yingfeng Cai, 2022. "Fuzzy Adaptive Energy Management Strategy for a Hybrid Agricultural Tractor Equipped with HMCVT," Agriculture, MDPI, vol. 12(12), pages 1-21, November.
    3. Francesco Mocera & Aurelio Somà & Salvatore Martelli & Valerio Martini, 2023. "Trends and Future Perspective of Electrification in Agricultural Tractor-Implement Applications," Energies, MDPI, vol. 16(18), pages 1-36, September.
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