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基于自抗扰控制的电动旋耕机耕深控制系统设计与试验研究

Design and experimental study of tillage depth control system for electric rotary tiller based on LADRC.

作者信息

Tao Wei, Chen Bin, Yang Xinkun, Guo Bo, Xu Wanwan, Ke Shaoye, Huang Shenghong

机构信息

The Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions, Wuyi University, Nanping, 354300, Fujian, China.

Fujian Key Laboratory of Big Data Application and Intellectualization for Tea Industry, Wuyi University, Nanping, 354300, Fujian, China.

出版信息

Sci Rep. 2025 Jan 11;15(1):1740. doi: 10.1038/s41598-025-86283-6.

DOI:10.1038/s41598-025-86283-6
PMID:39799242
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11724885/
Abstract

This paper proposes an adaptive real-time tillage depth control system for electric rotary tillers, based on Linear Active Disturbance Rejection Control (LADRC), to improve tillage depth accuracy in tea garden intercropping with soybeans. The tillage depth control system comprises a body posture sensor, a control unit, and a hybrid stepper motor, integrating sensor data to drive the motor and achieve precise depth control. Real-time displacement sensor signals are compared with target values, enabling closed-loop control of the rotary tiller. Field experiments conducted at 0.5 km/h and 0.8 km/h, with preset tillage depths of 80 mm and 100 mm, demonstrated the system's effectiveness. The average standard deviation of tillage depth for the LADRC system was 3.2 mm, compared to 10.5 mm for fuzzy proportional-integral-derivative (PID) control. The LADRC control reduced the rate of change in tillage depth by 68.9% compared to fuzzy PID. This system effectively mitigates potential deviations during operation, ensuring stable and reliable tillage depth control.

摘要

本文提出了一种基于线性自抗扰控制（LADRC）的电动旋耕机自适应实时耕作深度控制系统，以提高茶园间作大豆时的耕作深度精度。该耕作深度控制系统包括车身姿态传感器、控制单元和混合式步进电机，通过整合传感器数据来驱动电机并实现精确的深度控制。将实时位移传感器信号与目标值进行比较，从而实现旋耕机的闭环控制。在速度为0.5 km/h和0.8 km/h、预设耕作深度为80 mm和100 mm的条件下进行的田间试验证明了该系统的有效性。LADRC系统的耕作深度平均标准差为3.2 mm，而模糊比例积分微分（PID）控制的平均标准差为10.5 mm。与模糊PID相比，LADRC控制使耕作深度的变化率降低了68.9%。该系统有效地减少了作业过程中的潜在偏差，确保了耕作深度控制的稳定可靠。

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本文引用的文献

1
Analysis of the Effect of Tillage Depth on the Working Performance of Tractor-Moldboard Plow System under Various Field Environments.分析不同田间环境下耕作深度对拖拉机-犁板系统工作性能的影响。
Sensors (Basel). 2022 Apr 2;22(7):2750. doi: 10.3390/s22072750.
2
Development and Laboratory Evaluation of an Online Controlling Algorithm for Precision Tillage.精量播种在线调控算法的开发与实验室评估
Sensors (Basel). 2021 Aug 20;21(16):5603. doi: 10.3390/s21165603.
3
Development of a Real-Time Tillage Depth Measurement System for Agricultural Tractors: Application to the Effect Analysis of Tillage Depth on Draft Force during Plow Tillage.
农业拖拉机实时耕作深度测量系统的开发：在犁耕中耕作深度对牵引力影响分析中的应用。
Sensors (Basel). 2020 Feb 8;20(3):912. doi: 10.3390/s20030912.