Analysis and design of auto-adaptive leveling hydraulic suspension for agricultural robot

Hu, Kai; Zhang, Wenyi; Qi, Bing

doi:10.1177/17298814211040634

Cited by 4 publications

(1 citation statement)

References 16 publications

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“…Therefore, realtime surface geometry recognition will allow the robot to act quickly to maintain its stability. The contact angle between the wheel and the ground is a critical parameter that determines the wheels position relative to the surface, which indicates whether the robot wheel is climbing vertical, inclined or uneven surface (Pico, 2022;Hu, 2021).…”

Section: Introductionmentioning

confidence: 99%

Study of agrorobot resistance to movement during plant protection operations

Ivanov¹

2023

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Conventional robotic systems in agriculture are driven by operator control or are those that move along an established path. Unfortunately, however, in the field an established path is a very conditional concept. It is not possible to fix the route along which the robot will move, because different crops alternate on the same field. It is necessary to assess whether the robot is taking samples from the terrain and the crop, whether it will perform a plant protection event or other type of operation. Plant protection operations are accompanied by a constant change in the mass of the agricultural robot. During the operation, the mass of the sprayed solution decreases. This change leads to a decrease in its resistance. In order to be able to design an agricultural robot, it is necessary to establish its stability in different terrains. This article discusses the main points in determining the longitudinal sustainability of agricultural robots. Dependencies for the conditions of sustainability of the agricultural robot when climbing and descending are derived. The article is an overview and helps to determine the robot’s resilience faster.

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Section: Introductionmentioning

confidence: 99%

Study of agrorobot resistance to movement during plant protection operations

Ivanov¹

2023

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Pressure optimization for hydraulic-electric hybrid biped robot power unit based on genetic algorithm

Zhao

Xie

Zhu

et al. 2023

Sci Rep

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Biped robots have attracted increasing attention because of their flexible movement and strong adaptability to the surroundings. However, the small output torque and the weak impact resistance of the motor drive, as well as the large energy consumption of the hydraulic drive limit the performance of the biped robot drive system. Aiming at these shortcomings, an electric-hydraulic hybrid drive system of biped robot was proposed in this paper. The robot platform was designed based on the prototype of the Zhejiang Lab biped robot. The model of the hydraulic drive system and mechanical structure was established to analyze the dynamic characteristic and the load force during walking. The value function reflecting the energy consumption of the hydraulic drive system was proposed. The pressure of the accumulator in the hydraulic power unit was selected as the control parameter. In order to get the minimum value of the value function, so as to reduce the energy consumption of the hydraulic driving system, the control parameters were optimized by using the genetic algorithm. From the simulation results, the proposed optimization algorithm can improve efficiency by 3.49%.

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Position Control Algorithm of Fuzzy Adaptive PID of Hydraulic Interconnected Suspension Under Load Impact Disturbance

Zhang

2022

IEEE Access

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Position control accuracy of hydraulic interconnected suspension (HIS) for agricultural vehicle is unsatisfied under load impact conditions. In order to address this problem, advanced control methods were studied in this paper. The technical scheme of HIS was developed firstly. The transfer function from proportional valve spool displacement to hydraulic cylinder piston displacement was derived and then the parameters of the transfer function were also identified. The PID, sliding mode control (SMC) and fuzzy adaptive PID (FAPID) control algorithms were designed. The co-simulation of AMESim and SIMULINK was adopted to compare and analyze the control characteristics of the three algorithms. An experimental platform was also built to verify the improvement effect. The research conclusions show that when the HIS operates under load impact condition, for FAPID algorithm, the rise time is reduced by 0.27s, the maximum overshoot is reduced by 9.83mm, and the absolute value of average error is decreased by 62.62% compared with PID control algorithm. The response speed of SMC is the fastest, but there is a large chattering in the steady-state displacement. The designed FAPID control algorithm balances the advantages of fast response, high control precision and good stability, and the control performance is better than that of SMC and PID control algorithms. The research methods in this paper can provide reference value for position control accuracy improvement of hydraulic suspension.INDEX TERMS Fuzzy adaptive PID, hydraulic interconnected suspension, load impact, position control, sliding mode control. KAI HU was born in Kuiwen District, Weifang, Shandong, China, in 1990. He received the B.S. and M.S. degrees in vehicle engineering from the Shanghai University of Engineering Science, in 2012 and 2015, respectively. He is currently pursuing the Ph.D. degree with Nanjing Tech University. Since 2015, he has been a Research Assistant with the Nanjing Institute of Agricultural Mechanization. He is the author of more than 24 articles, and more than 30 patents. His research interests include the intelligent control technology and electro-hydraulic control technology. He won the national Scholarship for graduate students, in 2015. WENYI ZHANG was born in Danyang, Jiangsu, China, in 1966. He is a Master Student Supervisor and he is also the Department Head of the Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs. He is the author of four books, more than 40 articles, and 65 patents. His research interests include intelligent control theory and application and electromechanical system integrated control. He is the Secretary-General of Rice Expert Group, Ministry of Agriculture and Rural Affairs of China, and the Director of Jiangsu Agricultural Society.

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Analysis and design of auto-adaptive leveling hydraulic suspension for agricultural robot

Cited by 4 publications

References 16 publications

Study of agrorobot resistance to movement during plant protection operations

Study of agrorobot resistance to movement during plant protection operations

Pressure optimization for hydraulic-electric hybrid biped robot power unit based on genetic algorithm

Position Control Algorithm of Fuzzy Adaptive PID of Hydraulic Interconnected Suspension Under Load Impact Disturbance

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