IDEAS home Printed from https://ideas.repec.org/a/gam/jagris/v15y2025i2p137-d1563601.html
   My bibliography  Save this article

A Novel Hydraulic Interconnection Design and Sliding Mode Synchronization Control of Leveling System for Crawler Work Machine

Author

Listed:
  • Ruochen Wang

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

  • Kaiqiang Zhang

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

  • Renkai Ding

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

  • Yu Jiang

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

  • Yiyong Jiang

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

Abstract

To address the issues of easy overturning and poor safety of crawler work machines operating on steep slopes in hilly and mountainous areas, this study develops a structural design scheme based on a “three-layer frame” structure. An omnidirectional leveling system with hydraulic interconnection is designed to maintain platform stability by ensuring a stationary central point during leveling. Furthermore, a sliding mode synchronization control method based on a disturbance observer is proposed to reduce the synchronization error of the hydraulic cylinders and enhance leveling precision. The system’s performance is validated through an AMESim-MATLAB/Simulink co-simulation platform, demonstrating significant improvements over traditional PID control. Specifically, both lateral and longitudinal leveling times are reduced, rise time decreases by 21.8% on average, and overall leveling time is reduced by 35.5%, with synchronization errors maintained within ±6 × 10 −4 m. Finally, physical prototype testing further confirms the system’s effectiveness, achieving an average body inclination error of 2.55% and a hydraulic cylinder synchronization error of 8.2%. These findings validate the feasibility and superiority of the proposed omnidirectional leveling system for the crawler work machine in hilly and mountainous regions.

Suggested Citation

  • 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.
    • Handle: RePEc:gam:jagris:v:15:y:2025:i:2:p:137-:d:1563601
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2077-0472/15/2/137/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2077-0472/15/2/137/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. 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.
    2. Zhen Zhu & Yanpeng Yang & Dongqing Wang & Yingfeng Cai & Longhui Lai, 2022. "Energy Saving Performance of Agricultural Tractor Equipped with Mechanic-Electronic-Hydraulic Powertrain System," Agriculture, MDPI, vol. 12(3), pages 1-22, March.
    3. Weidong Jia & Kaile Tai & Xiaowen Wang & Xiang Dong & Mingxiong Ou, 2024. "Design and Simulation of Intra-Row Obstacle Avoidance Shovel-Type Weeding Machine in Orchard," Agriculture, MDPI, vol. 14(7), pages 1-22, July.
    4. Jinyang Li & Zhenyu Nie & Yunfei Chen & Deqiang Ge & Meiqing Li, 2023. "Development of Boom Posture Adjustment and Control System for Wide Spray Boom," Agriculture, MDPI, vol. 13(11), pages 1-30, November.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Zhengrong Chen & Ruochen Wang & Renkai Ding & Bin Liu & Wei Liu & Dong Sun & Zhongyang Guo, 2025. "Research Progress and Future Prospects of Brake-by-Wire Technology for New Energy Vehicles," Energies, MDPI, vol. 18(11), pages 1-30, May.
    2. 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.
    3. 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.
    4. Liwei Zhu & Weiming Sun & Qian Zhang & En Lu & Jialin Xue & Guohui Sha, 2025. "Tractor Path Tracking Control Method Based on Prescribed Performance and Sliding Mode Control," Agriculture, MDPI, vol. 15(15), pages 1-16, August.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    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. Zhengrong Chen & Ruochen Wang & Renkai Ding & Bin Liu & Wei Liu & Dong Sun & Zhongyang Guo, 2025. "Research Progress and Future Prospects of Brake-by-Wire Technology for New Energy Vehicles," Energies, MDPI, vol. 18(11), pages 1-30, May.
    3. Zifeng Pei & Li Zhang & Haijun Fu & Yucheng Wang, 2025. "New Fault-Tolerant Sensorless Control of FPFTPM Motor Based on Hybrid Adaptive Robust Observation for Electric Agricultural Equipment Applications," Energies, MDPI, vol. 18(8), pages 1-22, April.
    4. Hengrui Cao & Konghao Xu & Li Zhang & Zhongqiu Liu & Ziyang Wang & Haijun Fu, 2025. "Multi-Plane Virtual Vector-Based Anti-Disturbance Model Predictive Fault-Tolerant Control for Electric Agricultural Equipment Applications," Energies, MDPI, vol. 18(14), pages 1-19, July.
    5. Dagang Lu & Yu Chen & Yan Sun & Wenxuan Wei & Shilin Ji & Hongshuo Ruan & Fengyan Yi & Chunchun Jia & Donghai Hu & Kunpeng Tang & Song Huang & Jing Wang, 2025. "Research Progress in Multi-Domain and Cross-Domain AI Management and Control for Intelligent Electric Vehicles," Energies, MDPI, vol. 18(17), pages 1-52, August.
    6. Bingbo Cui & Xinyu Cui & Xinhua Wei & Yongyun Zhu & Zhen Ma & Yan Zhao & Yufei Liu, 2024. "Design and Testing of a Tractor Automatic Navigation System Based on Dynamic Path Search and a Fuzzy Stanley Model," Agriculture, MDPI, vol. 14(12), pages 1-17, November.
    7. Hongxuan Wu & Xinzhong Wang & Xuegeng Chen & Yafei Zhang & Yaowen Zhang, 2025. "Review on Key Technologies for Autonomous Navigation in Field Agricultural Machinery," Agriculture, MDPI, vol. 15(12), pages 1-28, June.
    8. Quanjie Jiang & Yue Shen & Hui Liu & Zohaib Khan & Hao Sun & Yuxuan Huang, 2025. "A Hybrid Path Planning Algorithm for Orchard Robots Based on an Improved D* Lite Algorithm," Agriculture, MDPI, vol. 15(15), pages 1-25, August.
    9. Chengliang Zhang & Changpu Li & Chunzhao Zhao & Lei Li & Guanlei Gao & Xiyuan Chen, 2022. "Design of Hydrostatic Chassis Drive System for Large Plant Protection Machine," Agriculture, MDPI, vol. 12(8), pages 1-16, July.
    10. Wenming Chen & Lianglong Hu & Gongpu Wang & Jianning Yuan & Guocheng Bao & Haiyang Shen & Wen Wu & Zicheng Yin, 2023. "Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID," Agriculture, MDPI, vol. 13(4), pages 1-18, April.
    11. Yu Luo & Dekui Pu & Xiaoli He & Lepeng Song & Simon X. Yang & Weihong Ma & Hanwen Shi, 2025. "Trajectory Tracking Control of an Orchard Robot Based on Improved Integral Sliding Mode Algorithm," Agriculture, MDPI, vol. 15(17), pages 1-33, September.
    12. Jin Hu & Yuwen Xie & Xingyu Ban & Liyuan Zhang & Zhenjiang Zhou & Zhao Zhang & Aichen Wang & Toby Waine, 2025. "Active Chlorophyll Fluorescence Technologies in Precision Weed Management: Overview and Perspectives," Agriculture, MDPI, vol. 15(16), pages 1-20, August.
    13. Zhang, Junjiang & Shi, Mingyue & Liu, Mengnan & Wang, Dongqing & Yan, Xianghai & Xu, Liyou & Wu, Yiwei, 2025. "Design method of dual-motor electric tractor drive system based on mass constraint algorithm under uncertainty using mass," Energy, Elsevier, vol. 322(C).
    14. Zixuan Xiang & Yu Miao & Yuting Zhou & Feng Li, 2025. "Design and Optimization of a High-Efficiency Lightweight Permanent Magnet In-Wheel Motor with Torque Performance Improvement," Energies, MDPI, vol. 18(17), pages 1-20, August.
    15. Weijian Liu & Xiwen Luo & Shan Zeng & Li Zeng & Zhiqiang Wen, 2022. "The Design and Test of the Chassis of a Triangular Crawler-Type Ratooning Rice Harvester," Agriculture, MDPI, vol. 12(6), pages 1-17, June.
    16. Ganghui Feng & Junjiang Zhang & Xianghai Yan & Chunhong Dong & Mengnan Liu & Liyou Xu, 2024. "Research on energy-saving control of agricultural hybrid tractors integrating working condition prediction," PLOS ONE, Public Library of Science, vol. 19(3), pages 1-26, March.
    17. Xiaoting Deng & Hailong Sun & Zhixiong Lu & Zhun Cheng & Yuhui An & Hao Chen, 2022. "Research on Dynamic Analysis and Experimental Study of the Distributed Drive Electric Tractor," Agriculture, MDPI, vol. 13(1), pages 1-21, December.
    18. Jin Yuan & Zichen Huang, 2024. "Intelligent Agricultural Machinery and Robots: Embracing Technological Advancements for a Sustainable and Highly Efficient Agricultural Future," Agriculture, MDPI, vol. 14(12), pages 1-3, November.
    19. 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.
    20. Haobin Jiang & Yang Zhao & Shidian Ma, 2025. "Dual-Layer Energy Management Strategy for a Hybrid Energy Storage System to Enhance PHEV Performance," Energies, MDPI, vol. 18(7), pages 1-20, March.

    More about this item

    Keywords

    ;
    ;
    ;
    ;

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jagris:v:15:y:2025:i:2:p:137-:d:1563601. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.