Design and Preliminary Experiment of Track Width Adjustment System for Sprayer Based on Integral Separated Fuzzy Proportional Integral Derivative Control Strategy

Abstract

Different agronomic requirements, production conditions, and crop species result in varying row spacings. To address the issue of seedling damage caused by pressure when a fixed track width sprayer operates in different row spacings and enhance the accuracy of track width adjustment, this study designed a track width adjustment system for a sprayer based on the agronomic requirements for field management during the early and mid-stages of corn growth and the entire growth period of wheat in Henan Province, China. The designed track width adjustment system for the sprayer comprised transmission mechanisms, telescopic track width adjustment mechanisms, and an electro-hydraulic control system. The control system achieved a precise track width adjustment by controlling the movement of the hydraulic cylinders through electrical signals, forming a closed-loop adjustment system with the aid of sensors. Four control schemes are proposed: classical PID, integral separated PID, fuzzy adaptive PID, and integral separated fuzzy PID. Simulation experiments were conducted using MATLAB to compare these schemes. The results indicated that the integral separated fuzzy PID exhibited the fastest response and highest steady-state accuracy. The performance of the track width adjustment system was validated through field experiments. The results demonstrate that the stability coefficient of variation for the track width adjustment was 3.04%, which is below the 10% threshold required by agricultural machinery standards. Additionally, the average error of the track width adjustment was 13.42 mm, indicating high precision and effectively reducing seedling compression damage during plant protection operations.