Review of electro-hydraulic hitch system control method of automated tractors

Wang, Yu; Dong, Di; Wang, Xin; Wang, Shumao

doi:10.25165/j.ijabe.20211403.6175

Cited by 6 publications

(4 citation statements)

References 45 publications

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“…Hydraulic drives include hydraulic cylinders for linear motion, hydraulic motors for rotary motion, and rocking motors for rocking motion, which form a hydraulic control system, together with oil tanks, oil pumps, control valves, and control circuits [51]. Wang et al [62] expounded and analyzed the development of electro-hydraulic suspension control technology from the two aspects of an electro-hydraulic control strategy and a sliding mode control strategy. More importantly, a new concept of integrating cutting-edge technologies, such as big data, fusion control, and artificial intelligence, was proposed, to develop hydraulic-based automated tractors.…”

Section: Hydraulic Drive Systemsmentioning

confidence: 99%

Actuators and Sensors for Application in Agricultural Robots: A Review

et al. 2022

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In recent years, with the rapid development of science and technology, agricultural robots have gradually begun to replace humans, to complete various agricultural operations, changing traditional agricultural production methods. Not only is the labor input reduced, but also the production efficiency can be improved, which invariably contributes to the development of smart agriculture. This paper reviews the core technologies used for agricultural robots in non-structural environments. In addition, we review the technological progress of drive systems, control strategies, end-effectors, robotic arms, environmental perception, and other related systems. This research shows that in a non-structured agricultural environment, using cameras and light detection and ranging (LiDAR), as well as ultrasonic and satellite navigation equipment, and by integrating sensing, transmission, control, and operation, different types of actuators can be innovatively designed and developed to drive the advance of agricultural robots, to meet the delicate and complex requirements of agricultural products as operational objects, such that better productivity and standardization of agriculture can be achieved. In summary, agricultural production is developing toward a data-driven, standardized, and unmanned approach, with smart agriculture supported by actuator-driven-based agricultural robots. This paper concludes with a summary of the main existing technologies and challenges in the development of actuators for applications in agricultural robots, and the outlook regarding the primary development directions of agricultural robots in the near future.

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Section: Hydraulic Drive Systemsmentioning

confidence: 99%

Actuators and Sensors for Application in Agricultural Robots: A Review

et al. 2022

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“…While various controllers similar to those mentioned above are also used on the Monarch Tractor's MK-V platform, we focus on using a closed-loop PID controller for electro-hydraulic hitch system control in this study. Similar feedback-based control systems on conventional tractor hitch systems are thoroughly reviewed in [20]. The authors in [21] designed a fuzzy-PID adaptive controller for an electro-hydraulic hitch system.…”

Section: Introductionmentioning

confidence: 99%

Tractor Three-Point Hitch Control for an Independent Lower Arms System

Chukewad,

Chadha,

Jagdale

et al. 2024

AgriEngineering

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The three-point hitch, found on agricultural tractors, facilitates the raising and lowering of an attached implement. Some tractors include a rock shaft that comprises a physical shaft that interconnects and facilitates the raising and lowering of the lower arms of the three-point hitch in a synchronized manner. In this study, we deal with a hitch system with the lower arms actuated by two independent hydraulic cylinders. This innovative tractor hitch system design allows the implement to follow the terrain, instead of the tractor, about the fore–aft (roll) axis of the tractor. However, since the two lower arms are independent, a specialized controller is needed to move these arms in unison. First, we present a position controller for individual arms and a roll controller to move these arms together. Second, we present a unique algorithm to emulate a physical rock shaft while the implement is operating in float mode. The algorithm ensures that the implement does not roll around the fore–aft axis while making sure it moves up and down vertically to follow the terrain. We present experimental results from the step response of the hitch system’s height while tracking a velocity reference. With the roll of the implement defined as the difference between the left arm’s position in percentage and that of the right arm in percentage, we observe that the largest mean roll was 0.23% with a flail mower attached and 0.26% without any implement. We then present results from the implement’s position in the float mode when the software rock shaft was activated and compare them with the case without the software rock shaft. The experiments showed that, when the software rock shaft was turned on, the mean roll reduced from 4.64% to 0.58% with a seed drill implement and from −3.99% to −0.59% with a flail mower implement. The standard deviations in these two implement cases improved from 16.77% to 2.79% and 6.45% to 3.53%, respectively, proving the effectiveness of the software rock shaft and its potential to replace the physical rock shaft found on the traditional tractors.

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“…The introduction and promotion of intelligence will also improve farming production efficiency and reduce energy consumption and environmental pollution [3][4][5] . With the introduction of a series of measures and standards by the country and the agricultural machinery industry to standardize agricultural machinery testing, more and more attention has been paid to the testing of tractors' operating efficiency and status parameters under different working conditions [6,7] .…”

Section: Introductionmentioning

confidence: 99%

Design and performance analysis of indoor calibration device for the force-measuring system of the tractor three-point hitch

Dai,

Chen,

Mao

et al. 2023

International Journal of Agricultural and Biological Engineering

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The real-time monitoring of the load in farming by the sensor installed on the tractor's three-point hitch can effectively improve the farming efficiency and force-position combined control, reduce the compaction risk of the wheel on the soil and reduce the fuel consumption in farming process. However, the measurement and quantification of the loads on the three-point hitch have some problems remaining unresolved: testing the accuracy and reliability of a load measuring system is hard when the tractor works in a field, the mathematical model of spatial forces usually lacks a practical and effective validation, and the calibration process of the measurement system is inconvenient and incomplete while easily causing a low accuracy. Specifically, this paper builds a new spatial-force mathematical model based on the geometry of a three-point hitch.To eliminate the discrepancy of the geometric model with the actual structure and to refine the mathematical model, a calibration process is conducted by developing a calibration bench, which is equipped with a data acquisition system and a multi-parameter monitoring interface. The three-point hitch installed on this calibration bench is subject to steady-state loading. The loading force, angle of the lower drawbar, and three-component forces (three shaft pin sensors' forces) of the three-point hitch are well measured. With applying for the measured data to calibrate the theoretical mathematic model eventually derives the resultant force from all the three-component forces, a dynamical loading bench was developed to test the calculated resultant force for the three-point hitch during the sinusoidal and randomly variant dynamical loadings tests. A hitch force measurement system is also developed to collect real-time data and calculate the resultant force of measured three-component forces through the calibrated mathematical model. The results of the dynamical loading tests show that the average relative error MRE = 1.09% with an average force measurement time delay being Δt = 0.5 s, the root mean square error RMSE = 59.3 N, and the coefficient of determination R 2 = 0.9903. As observed, the shape and the trend of the generated resultant force curve are basically the dynamical loading force. The dynamical loading test proves the high efficacy and reliability of the proposed indoor calibration method for calculating the load based on the three-component forces as measured on the three-point hitch. Besides, the preliminary study of the proposed method on the hitch load provides great potential to improve the indoor sixcomponent measurement and quantification of both the force and momentum acting on the three-point hitch.

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Review of electro-hydraulic hitch system control method of automated tractors

Cited by 6 publications

References 45 publications

Actuators and Sensors for Application in Agricultural Robots: A Review

Actuators and Sensors for Application in Agricultural Robots: A Review

Tractor Three-Point Hitch Control for an Independent Lower Arms System

Design and performance analysis of indoor calibration device for the force-measuring system of the tractor three-point hitch

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