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Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID

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  • Wenming Chen

    (Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China
    Nanjing Institute of Technology, Nanjing 211167, China)

  • Lianglong Hu

    (Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China)

  • Gongpu Wang

    (Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China)

  • Jianning Yuan

    (Nanjing Institute of Technology, Nanjing 211167, China)

  • Guocheng Bao

    (China Academy of Agricultural Mechanization Sciences Group Co., Ltd., Beijing 100083, China)

  • Haiyang Shen

    (Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China)

  • Wen Wu

    (Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China
    Nanjing Institute of Technology, Nanjing 211167, China)

  • Zicheng Yin

    (Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China)

Abstract

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.

Suggested Citation

  • Wenming Chen & Lianglong Hu & Gongpu Wang & Jianning Yuan & Guocheng Bao & Haiyang Shen & Wen Wu & Zicheng Yin, 2023. "Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID," Agriculture, MDPI, vol. 13(4), pages 1-18, April.
  • Handle: RePEc:gam:jagris:v:13:y:2023:i:4:p:905-:d:1128389
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    References listed on IDEAS

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    1. Fuyang Tian & Xinwei Wang & Sufang Yu & Ruixue Wang & Zhanhua Song & Yinfa Yan & Fade Li & Zhonghua Wang & Zhenwei Yu, 2022. "Research on Navigation Path Extraction and Obstacle Avoidance Strategy for Pusher Robot in Dairy Farm," Agriculture, MDPI, vol. 12(7), pages 1-23, July.
    2. Jinyang Li & Zhijian Shang & Runfeng Li & Bingbo Cui, 2022. "Adaptive Sliding Mode Path Tracking Control of Unmanned Rice Transplanter," Agriculture, MDPI, vol. 12(8), pages 1-14, August.
    3. Shenghe Bai & Yanwei Yuan & Kang Niu & Zenglu Shi & Liming Zhou & Bo Zhao & Liguo Wei & Lijing Liu & Yuankun Zheng & Sa An & Yihua Ma, 2022. "Design and Experiment of a Sowing Quality Monitoring System of Cotton Precision Hill-Drop Planters," Agriculture, MDPI, vol. 12(8), pages 1-14, July.
    4. Jincheng Chen & Hui Zhang & Feng Pan & Mujun Du & Chao Ji, 2022. "Control System of a Motor-Driven Precision No-Tillage Maize Planter Based on the CANopen Protocol," Agriculture, MDPI, vol. 12(7), pages 1-18, June.
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    Cited by:

    1. Hao Wang & Lixin Zhang & Huan Wang & Xue Hu & Jiawei Zhao & Fenglei Zhu & Xun Wu, 2023. "Research and Design of Improved Wild Horse Optimizer-Optimized Fuzzy Neural Network PID Control Strategy for EC Regulation of Cotton Field Water and Fertilizer Systems," Agriculture, MDPI, vol. 13(12), pages 1-14, November.
    2. Gongpu Wang & Wenming Chen & Xinhua Wei & Lianglong Hu & Jiwen Peng & Jianning Yuan & Guocheng Bao & Yemeng Wang & Haiyang Shen, 2023. "Design and Simulation Test of the Control System for the Automatic Unloading and Replenishment of Baskets of the 4UM-120D Electric Leafy Vegetable Harvester," Sustainability, MDPI, vol. 15(18), pages 1-19, September.

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