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Research on the Design of an Omnidirectional Leveling System and Adaptive Sliding Mode Control for Tracked Agricultural Chassis in Hilly and Mountainous Terrain

Author

Listed:
  • Renkai Ding

    (Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China
    Faculty of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Xiangyuan Qi

    (Faculty of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
    School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Xuwen Chen

    (Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China)

  • Yixin Mei

    (School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Anze Li

    (Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China)

  • Ruochen Wang

    (School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Zhongyang Guo

    (Jiangsu Chaoli Electric Manufacture Co., Ltd., Zhenjiang 212013, China)

Abstract

To address the suboptimal leveling performance and insufficient slope stability of existing agricultural machinery chassis in hilly and mountainous regions, this study proposes an innovative omnidirectional leveling system based on a “double-layer frame” crawler-type agricultural chassis. The system employs servo-electric cylinders as its actuation components. A control model for the servo-electric cylinders has been established, accompanied by the design of an adaptive sliding mode controller (ASMC). A co-simulation platform was developed utilizing Matlab/Simulink and Adams to evaluate system performance. Comparative simulations were conducted between the ASMC and a conventional PID controller, followed by comprehensive machine testing. Experimental results demonstrate that the proposed double-layer frame crawler chassis achieves longitudinal leveling adjustments of up to 25° and lateral adjustments of 20°. Through structural optimization and the application of ASMC (in contrast to PID), both longitudinal and lateral leveling response times were reduced by 1.12 s and 0.95 s, respectively. Furthermore, leveling velocities increased by a factor of 1.5 in the longitudinal direction and by a factor of 1.3 in the lateral direction, while longitudinal and lateral angular accelerations decreased by 15.8% and 17.1%, respectively. Field tests confirm the system’s capability for adaptive leveling on inclined terrain, thereby validating the enhanced performance of the proposed omnidirectional leveling system.

Suggested Citation

  • Renkai Ding & Xiangyuan Qi & Xuwen Chen & Yixin Mei & Anze Li & Ruochen Wang & Zhongyang Guo, 2025. "Research on the Design of an Omnidirectional Leveling System and Adaptive Sliding Mode Control for Tracked Agricultural Chassis in Hilly and Mountainous Terrain," Agriculture, MDPI, vol. 15(18), pages 1-28, September.
    • Handle: RePEc:gam:jagris:v:15:y:2025:i:18:p:1920-:d:1746631
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    References listed on IDEAS

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    1. Yiyong Jiang & Ruochen Wang & Renkai Ding & Zeyu Sun & Yu Jiang & Wei Liu, 2025. "Research Review of Agricultural Machinery Power Chassis in Hilly and Mountainous Areas," Agriculture, MDPI, vol. 15(11), pages 1-37, May.
    2. Jinyang Li & Zhijian Shang & Runfeng Li & Bingbo Cui, 2022. "Adaptive Sliding Mode Path Tracking Control of Unmanned Rice Transplanter," Agriculture, MDPI, vol. 12(8), pages 1-14, August.
    3. Lulu Yuan & Zhong Tang & Sifan Liu & Ting Wang & Zhao Ding, 2024. "Design for Copying Grouser and Bionic Convex Hull Patterns on Track Surfaces of Crawler Combine Harvesters," Agriculture, MDPI, vol. 14(7), pages 1-22, July.
    4. Ruochen Wang & Kaiqiang Zhang & Renkai Ding & Yu Jiang & Yiyong Jiang, 2025. "A Novel Hydraulic Interconnection Design and Sliding Mode Synchronization Control of Leveling System for Crawler Work Machine," Agriculture, MDPI, vol. 15(2), pages 1-19, January.
    5. Zhong Tang & Hui Ren & Xiyao Li & Xin Liu & Biao Zhang, 2020. "Structure Design and Bearing Capacity Analysis for Crawler Chassis of Rice Combine Harvester," Complexity, Hindawi, vol. 2020, pages 1-15, May.
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