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A Novel Hydraulic Interconnection Design and Sliding Mode Synchronization Control of Leveling System for Crawler Work Machine

Author

Listed:
  • Ruochen Wang

    (School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Kaiqiang Zhang

    (School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Renkai Ding

    (Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China)

  • Yu Jiang

    (School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Yiyong Jiang

    (School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China)

Abstract

To address the issues of easy overturning and poor safety of crawler work machines operating on steep slopes in hilly and mountainous areas, this study develops a structural design scheme based on a “three-layer frame” structure. An omnidirectional leveling system with hydraulic interconnection is designed to maintain platform stability by ensuring a stationary central point during leveling. Furthermore, a sliding mode synchronization control method based on a disturbance observer is proposed to reduce the synchronization error of the hydraulic cylinders and enhance leveling precision. The system’s performance is validated through an AMESim-MATLAB/Simulink co-simulation platform, demonstrating significant improvements over traditional PID control. Specifically, both lateral and longitudinal leveling times are reduced, rise time decreases by 21.8% on average, and overall leveling time is reduced by 35.5%, with synchronization errors maintained within ±6 × 10 −4 m. Finally, physical prototype testing further confirms the system’s effectiveness, achieving an average body inclination error of 2.55% and a hydraulic cylinder synchronization error of 8.2%. These findings validate the feasibility and superiority of the proposed omnidirectional leveling system for the crawler work machine in hilly and mountainous regions.

Suggested Citation

  • Ruochen Wang & Kaiqiang Zhang & Renkai Ding & Yu Jiang & Yiyong Jiang, 2025. "A Novel Hydraulic Interconnection Design and Sliding Mode Synchronization Control of Leveling System for Crawler Work Machine," Agriculture, MDPI, vol. 15(2), pages 1-19, January.
    • Handle: RePEc:gam:jagris:v:15:y:2025:i:2:p:137-:d:1563601
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    References listed on IDEAS

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    1. Weidong Jia & Kaile Tai & Xiaowen Wang & Xiang Dong & Mingxiong Ou, 2024. "Design and Simulation of Intra-Row Obstacle Avoidance Shovel-Type Weeding Machine in Orchard," Agriculture, MDPI, vol. 14(7), pages 1-22, July.
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    3. 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.
    4. Zhen Zhu & Yanpeng Yang & Dongqing Wang & Yingfeng Cai & Longhui Lai, 2022. "Energy Saving Performance of Agricultural Tractor Equipped with Mechanic-Electronic-Hydraulic Powertrain System," Agriculture, MDPI, vol. 12(3), pages 1-22, March.
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