基于滑移率与姿态反馈的丘陵山地联合收割机自适应抗滑控制策略OA

To address the problems of track slippage,speed fluctuations,attitude instability,and even rollover risks that can occur in combine harvesters operating on undulating slopes,overlapping cross slopes,and soft,wet soil conditions,leading to decreased path tracking accuracy and increased energy consumption,this study proposes an adaptive anti-slip control strategy based on slip-ratio and attitude feedback.The strategy treats the vehicle slip ratio and roll(lateral tilt)angle as the key state variables,integrates positioning data with inertial measurements to obtain these critical states online,and establishes a hierarchical risk-identification mechanism with four levels:"normal-slip risk-attitude risk-coupled high risk".Thresholds and hysteresis-based exit rules are incorporated to prevent frequent controller switching near critical operating boundaries.Unlike conventional fixed-parameter schemes that focus only on lateral tracking error,this study innovatively integrates longitudinal traction regulation and lateral stability intervention within a unified closed loop.When slip risk is triggered,the controller adaptively reduces the engine target speed to suppress excessive slip.When attitude risk is detected,it simultaneously reduces speed and applies an uphill-direction bias to the preview target point,guiding the vehicle toward a more favorable stabilizing trend.Under the coupled high-risk state where slip and attitude risks coexist,a safety supervisor arbitrates control priorities to realize coordinated control following the principle of"attitude safety first,traction second,tracking last",thereby balancing safety,tracking accuracy,and fuel economy under complex terrain and load fluctuations.Field comparative experiments were conducted on a tracked combine harvester platform on slopes of approximately 15°-25° with soil moisture content of about 25%-30%.The results show that the proposed method reduces the average path-tracking error from 0.117 1 m to 0.020 8 m and the maximum error from 0.445 1 m to 0.090 5 m,achieves an average slip ratio of approximately 6.12%with a maximum of about 18.00%,and yields an overall fuel-saving improvement of approximately 4.94%.In summary,this study unifies slip-ratio and attitude-risk modeling to drive control-mode switching,and introduces an uphill-biased preview point together with a safety-supervision priority mechanism,providing a practical adaptive anti-slip and stable-operation control solution for hillside and mountainous combine harvesters.