Design and Simulation of Suspension Leveling System for Small Agricultural Machinery in Hilly and Mountainous Areas

To address issues such as chassis attitude deviation, reduced operational efficiency, and diminished precision when agricultural machinery operates in complex terrains-including steep slopes and fragmented plots in hilly and mountainous regions-a servo electric cylinder-based active suspension levelling system has been designed. Real-time dynamic control is achieved through a fuzzy PID algorithm. Firstly, the suspension's mechanical structure and key parameters were determined, employing a 'servo electric cylinder-spring-shock absorber series' configuration to achieve load support and passive vibration damping. Secondly, a kinematic and dynamic model of the quarter-link suspension was established. Finally, Simulink simulations were conducted to model the agricultural machinery traversing mountainous, uneven terrain at segmented stable operating speeds, thereby validating the suspension's control performance. Simulation results demonstrate that the system maintains chassis height error within ±0.05 m, chassis height change rate within ±0.2 m/s, and response time ≤ 0.8 s. It rapidly and effectively counteracts terrain disturbances, achieving precise chassis height control. This provides theoretical support for designing whole-vehicle levelling systems for small agricultural machinery in hilly and mountainous terrains.