Development of a rolling angle estimation algorithm to improve the performance of implement leveling-control systems for agricultural tractors
Agricultural tractors are connected with various implements such as plow, baler, rotovator, and loader for performing agricultural work. In particular, the rotovator is used to crush and uniformly spread the soil after plowing operations. However, achieving uniformly spread soil and flattened fields...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2022-11-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/16878132221138310 |
| _version_ | 1828122253645053952 |
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| author | Ji Hun Yu Jin Kam Park Su Hwan Cheon Seo Jung Byeon Jin Woong Lee |
| author_facet | Ji Hun Yu Jin Kam Park Su Hwan Cheon Seo Jung Byeon Jin Woong Lee |
| author_sort | Ji Hun Yu |
| collection | DOAJ |
| description | Agricultural tractors are connected with various implements such as plow, baler, rotovator, and loader for performing agricultural work. In particular, the rotovator is used to crush and uniformly spread the soil after plowing operations. However, achieving uniformly spread soil and flattened fields using rotovator can be extremely challenging, because the soil is often pushed to a particular side or remains on a slope owing to the variations in soil composition, plowing depth, and the skill level of workers, which consequently affects the transplantation work. This study aims to analyze the prediction accuracy of the implement and tractor attitudes as a reference standard by (a) developing an algorithm to predict the implement attitude based on the hitch height, support points of the lower link and lift rod, and distance between the lower links, through four-section link mathematical modeling for a three-point hitch system, and (b) using an observer to predict the tractor attitude using a Kalman filter with gyroscopic and acceleration sensors. We developed a control algorithm using the gyroscopic and acceleration information from the sensor to improve the precision and adjustment speed of the conventional tractor–implement leveling-control system. In addition, the performance improvement was verified by comparing the conventional and proposed systems. The results revealed that the error rates in the proposed system were up to 72% less than those of the conventional system, implying that the control performance of the stated system could be improved by reducing the implement attitude estimation error and tractor attitude measurement delay. |
| first_indexed | 2024-04-11T14:32:43Z |
| format | Article |
| id | doaj.art-0f10f4595c184230ba1f404262996d65 |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-04-11T14:32:43Z |
| publishDate | 2022-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-0f10f4595c184230ba1f404262996d652022-12-22T04:18:28ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402022-11-011410.1177/16878132221138310Development of a rolling angle estimation algorithm to improve the performance of implement leveling-control systems for agricultural tractorsJi Hun Yu0Jin Kam Park1Su Hwan Cheon2Seo Jung Byeon3Jin Woong Lee4Transmission Development Team, LS Mtron Ltd., Gyeonggi-do, KoreaSmart Agricultural Machinery Group, Korea Institute of Industrial Technology, Chungcheongnam-do, KoreaSmart Control Team, LS Mtron Ltd., Gyeonggi-do, KoreaDepartment of Biosystems Engineering, Seoul National University, Seoul, KoreaSmart Agricultural Machinery Group, Korea Institute of Industrial Technology, Chungcheongnam-do, KoreaAgricultural tractors are connected with various implements such as plow, baler, rotovator, and loader for performing agricultural work. In particular, the rotovator is used to crush and uniformly spread the soil after plowing operations. However, achieving uniformly spread soil and flattened fields using rotovator can be extremely challenging, because the soil is often pushed to a particular side or remains on a slope owing to the variations in soil composition, plowing depth, and the skill level of workers, which consequently affects the transplantation work. This study aims to analyze the prediction accuracy of the implement and tractor attitudes as a reference standard by (a) developing an algorithm to predict the implement attitude based on the hitch height, support points of the lower link and lift rod, and distance between the lower links, through four-section link mathematical modeling for a three-point hitch system, and (b) using an observer to predict the tractor attitude using a Kalman filter with gyroscopic and acceleration sensors. We developed a control algorithm using the gyroscopic and acceleration information from the sensor to improve the precision and adjustment speed of the conventional tractor–implement leveling-control system. In addition, the performance improvement was verified by comparing the conventional and proposed systems. The results revealed that the error rates in the proposed system were up to 72% less than those of the conventional system, implying that the control performance of the stated system could be improved by reducing the implement attitude estimation error and tractor attitude measurement delay.https://doi.org/10.1177/16878132221138310 |
| spellingShingle | Ji Hun Yu Jin Kam Park Su Hwan Cheon Seo Jung Byeon Jin Woong Lee Development of a rolling angle estimation algorithm to improve the performance of implement leveling-control systems for agricultural tractors Advances in Mechanical Engineering |
| title | Development of a rolling angle estimation algorithm to improve the performance of implement leveling-control systems for agricultural tractors |
| title_full | Development of a rolling angle estimation algorithm to improve the performance of implement leveling-control systems for agricultural tractors |
| title_fullStr | Development of a rolling angle estimation algorithm to improve the performance of implement leveling-control systems for agricultural tractors |
| title_full_unstemmed | Development of a rolling angle estimation algorithm to improve the performance of implement leveling-control systems for agricultural tractors |
| title_short | Development of a rolling angle estimation algorithm to improve the performance of implement leveling-control systems for agricultural tractors |
| title_sort | development of a rolling angle estimation algorithm to improve the performance of implement leveling control systems for agricultural tractors |
| url | https://doi.org/10.1177/16878132221138310 |
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