智能化农业装备学报（中英文）2026，Vol.7Issue(1)：19-30,12.DOI:10.12398/j.issn.2096-7217.2026.01.003
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
Adaptive anti-slip control strategy for combine harvesters in hilly and mountainous terrain based on slip ratio and attitude feedback
摘要
Abstract
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.关键词
联合收割机/自适应控制/丘陵山地/滑移率/姿态反馈/路径跟踪Key words
combine harvesters/adaptive control/hilly and mountainous terrain/slip ratio/attitude feedback/path tracking分类
农业科技引用本文复制引用
赵立军,代凡程,雷良钥,胡繁森,沈成,张雪峰..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[J].智能化农业装备学报（中英文）,2026,7(1):19-30,12.基金项目
国家自然科学基金面上项目(52272438) （52272438）
重庆市2024年农机装备研产推用一体化"揭榜挂帅"项目(cqjjxxwjbgs-njzb2024002) （cqjjxxwjbgs-njzb2024002）
重庆市科技局英才计划项目(20231102) （20231102）
2025年重庆市研究生科研创新项目(CYS25872) National Natural Science Foundation of China(52272438) （CYS25872）
Chongqing 2024 Integrated'Leaderboard and Leadership'Project for the Research,Production,Promotion,and Application of Agricultural Machinery Equipment(cqjjxxwjbgs-njzb2024002) （cqjjxxwjbgs-njzb2024002）
Chongqing Science and Technology Bureau Talent Program Project(20231102) （20231102）
2025 Graduate Research and Innovation Project of Chongqing City(CYS25872) （CYS25872）
