Control Strategy of Grain Truck Following Operation Considering Variable Loads and Control Delay

Considering the slow response and unstable velocity of agricultural machinery caused by soil resistance, actuator delay, environmental change, fluctuation, other internal external factors under real working conditions, a kind following control system that considers variable load delay was proposed. Taking distance-keeping, velocity-following, acceleration-following as parameters, controller model deduced, influence different values parameters on driving stability analyzed in detail. In addition, this paper describes strategy can realize graded adjustment vehicle distance with dynamic increase weight. Then, strategy, quality, simulated verified using MATLAB/Simulink (MATLAB2016a, mathworks: Natick, Massachusetts, USA). When crop harvester at 1.5 m/s amplitude fluctuation 0.3 m 1.3 m, respectively, grain truck could adjust its to keep up complete operation task. Simulation verification carried out for proposed strategy. The unit mass crops set 360 kg, changed 18s adapt Finally, real-vehicle validation test out, results show change basis maintaining desired distance, road condition, which verifies effectiveness feasibility method.