Attitude control of a tractor for the slope land use - model test

摘要

When a tractor travels the slope land, problems of the operator safety and the reduction of the job efficiency usually occur. Maintaining the tractor body being horizontal is critical to improve the security of traveling and the job performance. The experiment was made in the soil bin using the experimental model system built and equipped with the attitude control system. The adaptability of the control system was tested and investigated by analyzing system response in time and frequency domain. Control response of the 10lpm flow rate of hydraulic cylinder on a step input of 10° was about 0.42sec. And it showed linearly increasing trend without any hunching state. A steady state error of 0.6° occurred but it was negligible. The safety limit was within the range of 0.4Hz input frequency allowing a little phase difference. Experimental model showed the feasible implementation of the proposed control system to the prototype design of a slope land tractor.