RESEARCH ON TERRAIN-FOLLOWING CONTROL STRATEGY FOR THE HEADER OF 4SZ-1.5 BUCKWHEAT WINDROWER

Aiming at the problem of uneven stubble height caused by large topographic relief and scattered plots of buckwheat fields in Hilly and mountainous areas, taking 4SZ-1.5 buckwheat windrower as the research object, an omni-directional header profiling strategy based on fuzzy control was proposed. By constructing the cooperative control system of the rotary lateral profiling mechanism (rotary hydraulic cylinder) and the lifting longitudinal profiling mechanism (lifting hydraulic cylinder), combined with the sliding plate angular displacement sensor, the real-time road elevation information is obtained. The random road excitation is generated by the filtered white noise time-domain model, and the Mamdani type fuzzy controller is established. The hydraulic cylinder expansion and contraction command is output with the left and right angle deviation as the input. Simulink simulation shows that the fuzzy controller can effectively perceive the real-time fluctuations of the terrain on both sides, realize the adaptive adjustment of the header to uneven ground, and has good stability and anti-interference. Field test verification: compared with the manual mode, the coefficient of variation (CV%) of stubble height in the automatic mode is 40%~60% lower than that in the manual mode, and the CV% remains ≤ 11.76 when the vehicle speed rises to 2m/s, significantly improving the adaptability to complex terrain.