Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID
In this study, a 4UM-120D electric leafy vegetable harvester was employed as the research object. An automatic control system was created to maintain the cutter’s height above the ground within ±2% of the desired value. The intention was to reduce the operators’ work intensity while improving the le...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-04-01
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| Series: | Agriculture |
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| Online Access: | https://www.mdpi.com/2077-0472/13/4/905 |
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| author | Wenming Chen Lianglong Hu Gongpu Wang Jianning Yuan Guocheng Bao Haiyang Shen Wen Wu Zicheng Yin |
| author_facet | Wenming Chen Lianglong Hu Gongpu Wang Jianning Yuan Guocheng Bao Haiyang Shen Wen Wu Zicheng Yin |
| author_sort | Wenming Chen |
| collection | DOAJ |
| description | In this study, a 4UM-120D electric leafy vegetable harvester was employed as the research object. An automatic control system was created to maintain the cutter’s height above the ground within ±2% of the desired value. The intention was to reduce the operators’ work intensity while improving the leafy vegetable harvester’s working quality. The automatic control system for the cutter height from the ground was explained, along with its structure and operating philosophy. MATLAB was used to establish the two-phase hybrid stepper motor’s mathematical electrical equation and mechanical equation models. An analysis was carried out on the fundamentals and differences between position PID and incremental PID control algorithms. Utilizing incremental PID in combination, the control strategy for the harvester cutter height from the ground was built, and an automatic control system was produced under the corresponding control strategy. The stability, accuracy, and rapidity of the automatic control system of the cutter height from the ground under the incremental PID control strategy were analyzed by simulating different actual working conditions with MATLAB/Simulink and taking the steady-state transition time as the evaluation index. The test results show that when the deviation between the current value and the set value was greater than 2%—that is, when the harvester was in the condition of suddenly crossing the ditch or suddenly climbing the slope—the automatic control system based on the incremental PID control strategy had a good dynamic response performance and stability. This resulted in the automatic control function of the harvester cutter height off the ground being achieved. When the rotation angle PID control algorithm’s proportional coefficient is Kp = 4.665, the rotation speed PID control algorithm’s proportional coefficient is Kp = 5.65 and its integral coefficient is Ki = 3.86, and the current PID control algorithm’s proportional coefficient is Kp = 0.5455 and its integral coefficient is Ki = 30.4578. The harvester abruptly crossed a ditch while operating steadily, and the automatic control system’s steady-state transition time for the height of the cutter off the ground was 1.0811 s. The harvester abruptly climbed a slope while operating steadily, and the automatic control system’s steady-state transition time for the height of the cutter off the ground was 1.1185 s. Data from the field tests revealed a degree of reliability in the simulation test results. The study offered a strategy for raising the harvester quality for leafy vegetables while lowering the operator workload. |
| first_indexed | 2024-03-11T05:19:42Z |
| format | Article |
| id | doaj.art-34e5a51d56b44466aa062b16aef3f16f |
| institution | Directory Open Access Journal |
| issn | 2077-0472 |
| language | English |
| last_indexed | 2024-03-11T05:19:42Z |
| publishDate | 2023-04-01 |
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| series | Agriculture |
| spelling | doaj.art-34e5a51d56b44466aa062b16aef3f16f2023-11-17T17:55:09ZengMDPI AGAgriculture2077-04722023-04-0113490510.3390/agriculture13040905Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PIDWenming Chen0Lianglong Hu1Gongpu Wang2Jianning Yuan3Guocheng Bao4Haiyang Shen5Wen Wu6Zicheng Yin7Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, ChinaNanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, ChinaNanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, ChinaNanjing Institute of Technology, Nanjing 211167, ChinaChina Academy of Agricultural Mechanization Sciences Group Co., Ltd., Beijing 100083, ChinaNanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, ChinaNanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, ChinaNanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, ChinaIn this study, a 4UM-120D electric leafy vegetable harvester was employed as the research object. An automatic control system was created to maintain the cutter’s height above the ground within ±2% of the desired value. The intention was to reduce the operators’ work intensity while improving the leafy vegetable harvester’s working quality. The automatic control system for the cutter height from the ground was explained, along with its structure and operating philosophy. MATLAB was used to establish the two-phase hybrid stepper motor’s mathematical electrical equation and mechanical equation models. An analysis was carried out on the fundamentals and differences between position PID and incremental PID control algorithms. Utilizing incremental PID in combination, the control strategy for the harvester cutter height from the ground was built, and an automatic control system was produced under the corresponding control strategy. The stability, accuracy, and rapidity of the automatic control system of the cutter height from the ground under the incremental PID control strategy were analyzed by simulating different actual working conditions with MATLAB/Simulink and taking the steady-state transition time as the evaluation index. The test results show that when the deviation between the current value and the set value was greater than 2%—that is, when the harvester was in the condition of suddenly crossing the ditch or suddenly climbing the slope—the automatic control system based on the incremental PID control strategy had a good dynamic response performance and stability. This resulted in the automatic control function of the harvester cutter height off the ground being achieved. When the rotation angle PID control algorithm’s proportional coefficient is Kp = 4.665, the rotation speed PID control algorithm’s proportional coefficient is Kp = 5.65 and its integral coefficient is Ki = 3.86, and the current PID control algorithm’s proportional coefficient is Kp = 0.5455 and its integral coefficient is Ki = 30.4578. The harvester abruptly crossed a ditch while operating steadily, and the automatic control system’s steady-state transition time for the height of the cutter off the ground was 1.0811 s. The harvester abruptly climbed a slope while operating steadily, and the automatic control system’s steady-state transition time for the height of the cutter off the ground was 1.1185 s. Data from the field tests revealed a degree of reliability in the simulation test results. The study offered a strategy for raising the harvester quality for leafy vegetables while lowering the operator workload.https://www.mdpi.com/2077-0472/13/4/905leafy vegetable harvesterheight of cutter from the groundautomatic control systemincremental PID control strategydesign |
| spellingShingle | Wenming Chen Lianglong Hu Gongpu Wang Jianning Yuan Guocheng Bao Haiyang Shen Wen Wu Zicheng Yin Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID Agriculture leafy vegetable harvester height of cutter from the ground automatic control system incremental PID control strategy design |
| title | Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID |
| title_full | Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID |
| title_fullStr | Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID |
| title_full_unstemmed | Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID |
| title_short | Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID |
| title_sort | design of 4um 120d electric leafy vegetable harvester cutter height off the ground automatic control system based on incremental pid |
| topic | leafy vegetable harvester height of cutter from the ground automatic control system incremental PID control strategy design |
| url | https://www.mdpi.com/2077-0472/13/4/905 |
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