The Design and Experimentation of EVPIVS-PID Harvesters’ Header Height Control System Based on Sensor Ground Profiling Monitoring
In this paper, an adaptive header height control system is designed. Through the influence of the natural frequency, <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msub><mi>ω</mi><mi...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-02-01
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| Series: | Agriculture |
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| Online Access: | https://www.mdpi.com/2077-0472/12/2/282 |
| _version_ | 1797483838425792512 |
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| author | Ranbing Yang Zhichao Wang Shuqi Shang Jian Zhang Yiren Qing Xiantao Zha |
| author_facet | Ranbing Yang Zhichao Wang Shuqi Shang Jian Zhang Yiren Qing Xiantao Zha |
| author_sort | Ranbing Yang |
| collection | DOAJ |
| description | In this paper, an adaptive header height control system is designed. Through the influence of the natural frequency, <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msub><mi>ω</mi><mi>n</mi></msub></mrow></semantics></math></inline-formula>, and damping ratio, <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>ζ</mi></semantics></math></inline-formula>, on the system’s dynamic index, the optimal hydraulic cylinder parameters are determined comprehensively. The ground profiling monitoring mechanism and the header height feedback mechanism based on the angle sensor are designed. An integrated electromagnetic proportional valve was installed to replace the original header-controlled, electronically-controlled reversing valve, and a PWM (pulse width modulation) control-simulated counterweight test was performed. The limitation of traditional PID facing the integral saturation state is analysed, and a new EVPIVS-PID algorithm is proposed and simulated. Through the analysis of multiple groups of sample data in the field test, the accuracy of the control system in the header height control and output PWM value is demonstrated. The effectiveness of the EVPIVS-PID control algorithm to change the corresponding PID parameters based on the monitoring operation speed is analysed and demonstrated. Experiments show that the adaptive control system of header height based on ground profiling has a stable control effect. The height error of cutting stubble is not more than 2 cm, which can meet the requirements of a 5–11 km/h harvesting speed in plain areas. |
| first_indexed | 2024-03-09T22:52:50Z |
| format | Article |
| id | doaj.art-fa65559de8eb4c00a7ead0232312b4cb |
| institution | Directory Open Access Journal |
| issn | 2077-0472 |
| language | English |
| last_indexed | 2024-03-09T22:52:50Z |
| publishDate | 2022-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Agriculture |
| spelling | doaj.art-fa65559de8eb4c00a7ead0232312b4cb2023-11-23T18:17:41ZengMDPI AGAgriculture2077-04722022-02-0112228210.3390/agriculture12020282The Design and Experimentation of EVPIVS-PID Harvesters’ Header Height Control System Based on Sensor Ground Profiling MonitoringRanbing Yang0Zhichao Wang1Shuqi Shang2Jian Zhang3Yiren Qing4Xiantao Zha5College of Mechanical and Electrical Engineering, Hainan University, Haikou 570228, ChinaCollege of Mechanical and Electrical Engineering, Qingdao Agricultural University, Qingdao 266109, ChinaCollege of Mechanical and Electrical Engineering, Qingdao Agricultural University, Qingdao 266109, ChinaCollege of Mechanical and Electrical Engineering, Qingdao Agricultural University, Qingdao 266109, ChinaCollege of Mechanical and Electrical Engineering, Hainan University, Haikou 570228, ChinaCollege of Mechanical and Electrical Engineering, Hainan University, Haikou 570228, ChinaIn this paper, an adaptive header height control system is designed. Through the influence of the natural frequency, <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msub><mi>ω</mi><mi>n</mi></msub></mrow></semantics></math></inline-formula>, and damping ratio, <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>ζ</mi></semantics></math></inline-formula>, on the system’s dynamic index, the optimal hydraulic cylinder parameters are determined comprehensively. The ground profiling monitoring mechanism and the header height feedback mechanism based on the angle sensor are designed. An integrated electromagnetic proportional valve was installed to replace the original header-controlled, electronically-controlled reversing valve, and a PWM (pulse width modulation) control-simulated counterweight test was performed. The limitation of traditional PID facing the integral saturation state is analysed, and a new EVPIVS-PID algorithm is proposed and simulated. Through the analysis of multiple groups of sample data in the field test, the accuracy of the control system in the header height control and output PWM value is demonstrated. The effectiveness of the EVPIVS-PID control algorithm to change the corresponding PID parameters based on the monitoring operation speed is analysed and demonstrated. Experiments show that the adaptive control system of header height based on ground profiling has a stable control effect. The height error of cutting stubble is not more than 2 cm, which can meet the requirements of a 5–11 km/h harvesting speed in plain areas.https://www.mdpi.com/2077-0472/12/2/282header height controlEVPIVS-PIDcontrol accuracysystem adaptive control |
| spellingShingle | Ranbing Yang Zhichao Wang Shuqi Shang Jian Zhang Yiren Qing Xiantao Zha The Design and Experimentation of EVPIVS-PID Harvesters’ Header Height Control System Based on Sensor Ground Profiling Monitoring Agriculture header height control EVPIVS-PID control accuracy system adaptive control |
| title | The Design and Experimentation of EVPIVS-PID Harvesters’ Header Height Control System Based on Sensor Ground Profiling Monitoring |
| title_full | The Design and Experimentation of EVPIVS-PID Harvesters’ Header Height Control System Based on Sensor Ground Profiling Monitoring |
| title_fullStr | The Design and Experimentation of EVPIVS-PID Harvesters’ Header Height Control System Based on Sensor Ground Profiling Monitoring |
| title_full_unstemmed | The Design and Experimentation of EVPIVS-PID Harvesters’ Header Height Control System Based on Sensor Ground Profiling Monitoring |
| title_short | The Design and Experimentation of EVPIVS-PID Harvesters’ Header Height Control System Based on Sensor Ground Profiling Monitoring |
| title_sort | design and experimentation of evpivs pid harvesters header height control system based on sensor ground profiling monitoring |
| topic | header height control EVPIVS-PID control accuracy system adaptive control |
| url | https://www.mdpi.com/2077-0472/12/2/282 |
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