智能化农业装备学报（中英文）2026，Vol.7Issue(3)：19-29,11.DOI:10.12398/j.issn.2096-7217.2026.03.002
基于Carsim与MATLAB/Simulink联合仿真的犁耕作业拖拉机驱动轮滑转控制研究
Research on drive wheel slip ratio control of a tillage tractor based on co-simulation with CarSim and MATLAB/Simulink
摘要
Abstract
To satisfy the requirement of active anti-slip control for tractors under plowing conditions,this paper develops a dynamic modeling and co-simulation framework for tractor-plow assemblies to characterize the time-varying and strongly nonlinear"tractor-plow-soil"coupling system.A slip ratio control system is designed with an electro-hydraulic proportional directional valve as the control object,and a hardware-in-the-loop(HIL)simulation platform is developed to verify the effectiveness of the slip ratio control.First,based on the body parameters of the Dongfanghong LX1804 high-power tractor,vehicle dynamics and plowing operation models are established in CarSim and MATLAB/Simulink,respectively,and then coupled for joint simulation.Second,a PID controller is formulated targeting an optimal slip ratio of sobj=0.16,with genetic algorithm(GA)parameter tuning to optimize dynamic response.Finally,the control algorithm is deployed on an IMC T3654 real-time controller integrated with the dSPACE platform to complete the HILS verification system.The joint simulation results align with actual operational conditions,validating the rationality and effectiveness of the coupled simulation model.Under the GA-PID control method,the fluctuation range of the slip ratio is 0.007,with a mean value of 0.161 and a standard deviation of 0.001,demonstrating smaller control overshoot and better performance compared to the traditional PID control method.The hardware-in-the-loop testing shows that under soil resistivity step-change conditions,the model dynamic response and control effects are consistent with the offline simulation results.The control error fluctuation range is 0.007,with an average value of 0.161 and a standard deviation of 0.001.There are only slight differences at the moments of soil resistivity step changes and peak values,with the magnitude of the differences on the order of 10-4,which is acceptable for practical applications.The tractor drive wheel slip control method based on joint simulation using Carsim and MATLAB/Simulink proposed in this study can effectively control the slip ratio of the tractor driving wheels during tillage operations,providing a reference for slip control in tractor plowing tasks.关键词
拖拉机犁耕作业/联合仿真/驱动轮滑转控制/GA-PID控制/硬件在环仿真Key words
tractor plowing operation/co-simulation/drive wheel slip control/GA-PID control/hardware-in-the-loop simulation分类
农业科技引用本文复制引用
温景明,罗岩青,弓寒冬,田智辉,高春茹,陈雨,张硕..基于Carsim与MATLAB/Simulink联合仿真的犁耕作业拖拉机驱动轮滑转控制研究[J].智能化农业装备学报（中英文）,2026,7(3):19-29,11.基金项目
国家自然科学基金青年项目(32201677) National Natural Science Foundation of China(NSFC)Youth Project(32201677) （32201677）
