农机化研究2026，Vol.48Issue(7)：193-201,9.DOI:10.13427/j.issn.1003-188X.2026.07.025
基于无抖振终端滑模的残膜回收机捡拾与前进速度控制
Control of Pickup and Forward Speed for Residual Film Recycling Machine Based on Chattering-Free Terminal Sliding Mode
摘要
Abstract
For the 4JMLQ-210A residual film recovery machine,wheel slippage and sudden variations in soil resistance during field operation often cause a mismatch between the forward speed and the pickup speed,leading to missed film collection and an increased impurity rate,a synchronous control system for the pickup and forward speeds of the residual film recovery machine was designed,and proposed a speed-synchronization control strategy based on a chatter-free ter-minal sliding mode control method.Firstly,considering the dynamic characteristics of the pickup mechanism and the working principle of the hydraulic drive system,a coupled pickup-dynamics-hydraulic-system model was established.Secondly,a fractional-power chatter-free terminal sliding mode controller was designed.By exploiting the fast conver-gence property of fractional-power sliding surfaces,finite-time accurate matching between the pickup speed and the for-ward speed was achieved,ensuring a rapid transient response.Meanwhile,a continuous reaching law and a filtering mechanism were introduced to effectively suppress the chattering commonly associated with conventional sliding mode con-trol,significantly enhancing robustness against parameter disturbances such as hydraulic oil viscosity drift and load fluctu-ations during operation.Simulation results showed that,under step and sinusoidal excitations,the tracking times were 0.03 s and 0.02 s,respectively.After introducing a step disturbance to emulate a sudden change in soil resistance torque,the system returned to the speed-matching state within 0.01 s,with a tracking error not exceeding±0.02 rad/s,while the control input remained smooth and free of chattering.Field experiments demonstrated that,under both normal and slippage conditions,the system can achieve stable tracking when the forward speed was stepped to 6,7,8,and 9 km/h.Under normal conditions,the fluctuation range of the pickup speed ratio was within±0.04,with rise time no greater than 1.8 s,settling time no greater than 2.2 s,and overshoot no greater than 10.5%.Under slippage condi-tions,the fluctuation range was within±0.06,with rise time no greater than 2.1 s,settling time no greater than 2.5 s,and overshoot no greater than 12.0%.The machine achieved average residual film recovery rate of 90.86%and film-im-purity separation rate of 90.72%.The proposed system enables precise speed matching and exhibits strong adaptability and operational robustness in complex farmland environments.关键词
残膜回收/速度匹配/电液比例控制/终端滑模控制Key words
residual film recovery/speed matching/electro hydraulic proportional control/terminal sliding mode control分类
农业科技引用本文复制引用
周诗博,温浩军,缑海啸,郑招辉..基于无抖振终端滑模的残膜回收机捡拾与前进速度控制[J].农机化研究,2026,48(7):193-201,9.基金项目
新疆维吾尔自治区"揭榜挂帅"项目(KZ62100101) （KZ62100101）
