数字农科院2.0

Adaptive synchronous sliding mode levelling system for combine harvester considering track circumference: Co-simulation and experimental verification

文献类型： 外文期刊

作者： Jinpeng Hu;Maolin Shi;Tianle Ma;Peng Liu;Xiaoyu Chai;Guangqiao Cao;Lizhang Xu

作者机构：

关键词： Agricultural machinery;Hydraulic levelling system;Surrogate model;Synchronisation control;Track tension

期刊名称： Biosystems Engineering

ISSN： 1537-5110

年卷期： 2026 年 264 卷

页码：

收录情况： SCIE（2025版） ; ; EI（2025版）

摘要： To address variable track tension, poor cylinder synchronisation, and suboptimal chassis levelling in tracked combine harvesters in hilly terrain, a sliding mode synchronisation levelling control strategy is proposed that integrates theoretical track circumference (TTC) constraints with adaptive cylinder synchronisation control. The hydraulic circuit and operating principle of the four-point levelling chassis are analysed, and a mathematical model is developed to describe TTC variation during levelling. Particle Swarm Optimisation–Backpropagation (PSO-BP) surrogate models are established to capture the relationships among cylinder displacement, tension pulley position, levelling angles, and TTC. Based on these surrogates, the tension pulley position and cylinder extensions are optimised by formulating a constrained objective function and solving it with the Grey Wolf Optimiser (GWO). An adaptive synchronisation sliding mode controller (ASSMC) is then proposed, in which a disturbance observer estimates disturbances in the nonlinear hydraulic system and the synchronisation error is incorporated as a compensation term to improve tracking accuracy. Co-simulation results showed that the proposed strategy reduced levelling time to 1.8 s on a 5° lateral slope and 2.1 s on a 5° longitudinal slope. The cylinder synchronisation error remained below 0.52 mm, with negligible overshoot in cylinder displacement, outperforming conventional PID control. Meanwhile, TTC was maintained within 4580–4600 mm under all tested scenarios. Field tests further confirmed fast and accurate levelling, with body inclination maintained within ±0.2° and track tension satisfying the TTC constraint throughout, validating the effectiveness of the proposed system.

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