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Tillage Depth Detection and Control Based on Attitude Estimation and Online Calibration of Model Parameters

Author

Listed:
  • Yongyun Zhu

    (School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Bingbo Cui

    (School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Zelong Yu

    (School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Yuanyuan Gao

    (School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Xinhua Wei

    (School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China)

Abstract

Aiming at solving the problems of inaccurate tillage depth detection and unstable tillage depth control, this study proposes a tillage depth detection and control method based on attitude estimation and online calibration of model parameters. First, a tillage depth detection model based on the attitude measurement of the plow is established. The attitude estimation method is designed to measure the horizontal attitude of the plow. An adaptive Kalman filter is utilized to perform an online calibration of the model parameters between the rotation angle of the lifting arm and the pitch angle of the plow. The dynamic and accurate detection of tillage depth is achieved using the tillage depth detection model. Second, a tillage depth control device using an STM32 microcontroller is developed in this study. The PID controller controls the tractor’s suspension system to adjust the plow through the solenoid valve, thus achieving stable control of the tillage depth. Finally, the experimental results obtained from simulation and field tests show that the tillage depth can be stably controlled within the set target interval during the tractor plowing operation, proving the effectiveness and feasibility of the proposed tillage depth detection and control method.

Suggested Citation

  • Yongyun Zhu & Bingbo Cui & Zelong Yu & Yuanyuan Gao & Xinhua Wei, 2024. "Tillage Depth Detection and Control Based on Attitude Estimation and Online Calibration of Model Parameters," Agriculture, MDPI, vol. 14(12), pages 1-19, November.
    • Handle: RePEc:gam:jagris:v:14:y:2024:i:12:p:2130-:d:1528451
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    References listed on IDEAS

    as
    1. Xinxin Chen & Gaoming Xu & Xiaoyu Zhang & Weichao Tan & Qishuo Ding & Ahmad Ali Tagar, 2024. "Performance Evaluation of Biomimetic-Designed Rotary Blades for Straw Incorporation in an Intensive Tillage System," Agriculture, MDPI, vol. 14(8), pages 1-15, August.
    2. Yang Guo & Meiling Cui & Zhigang Xu, 2023. "Spatial Characteristics of Transfer Plots and Conservation Tillage Technology Adoption: Evidence from a Survey of Four Provinces in China," Agriculture, MDPI, vol. 13(8), pages 1-15, August.
    3. Neeraj Kumar Singh & Baldev Dogra & Gursahib Singh Manes & Dilwar Singh Parihar & Ali Salem & Ahmed Elbeltagi, 2024. "Effect of the Spading Machine on Various Soil Parameters at Different Tillage Depths," Sustainability, MDPI, vol. 16(11), pages 1-12, May.
    4. Xiaoxu Sun & Yue Song & Yunfei Wang & Jin Qian & Zhixiong Lu & Tao Wang, 2023. "Design and Test of a Tractor Electro-Hydraulic-Suspension Tillage-Depth and Loading-Control System Test Bench," Agriculture, MDPI, vol. 13(10), pages 1-18, September.
    5. Yuanyuan Gao & Yifei Yang & Shuai Fu & Kangyao Feng & Xing Han & Yongyue Hu & Qingzhen Zhu & Xinhua Wei, 2024. "Analysis of Vibration Characteristics of Tractor–Rotary Cultivator Combination Based on Time Domain and Frequency Domain," Agriculture, MDPI, vol. 14(7), pages 1-16, July.
    6. Yao Yu & Shuaihua Hao & Songbao Guo & Zhong Tang & Shuren Chen, 2022. "Motor Torque Distribution Strategy for Different Tillage Modes of Agricultural Electric Tractors," Agriculture, MDPI, vol. 12(9), pages 1-22, September.
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