A Novel Hydraulic Interconnection Design and Sliding Mode Synchronization Control of Leveling System for Crawler Work Machine
To address the issues of easy overturning and poor safety of crawler work machines operating on steep slopes in hilly and mountainous areas, this study develops a structural design scheme based on a “three-layer frame” structure. An omnidirectional leveling system with hydraulic interconnection is d...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Agriculture |
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| Online Access: | https://www.mdpi.com/2077-0472/15/2/137 |
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| author | Ruochen Wang Kaiqiang Zhang Renkai Ding Yu Jiang Yiyong Jiang |
| author_facet | Ruochen Wang Kaiqiang Zhang Renkai Ding Yu Jiang Yiyong Jiang |
| author_sort | Ruochen Wang |
| collection | DOAJ |
| description | To address the issues of easy overturning and poor safety of crawler work machines operating on steep slopes in hilly and mountainous areas, this study develops a structural design scheme based on a “three-layer frame” structure. An omnidirectional leveling system with hydraulic interconnection is designed to maintain platform stability by ensuring a stationary central point during leveling. Furthermore, a sliding mode synchronization control method based on a disturbance observer is proposed to reduce the synchronization error of the hydraulic cylinders and enhance leveling precision. The system’s performance is validated through an AMESim-MATLAB/Simulink co-simulation platform, demonstrating significant improvements over traditional PID control. Specifically, both lateral and longitudinal leveling times are reduced, rise time decreases by 21.8% on average, and overall leveling time is reduced by 35.5%, with synchronization errors maintained within ±6 × 10<sup>−4</sup> m. Finally, physical prototype testing further confirms the system’s effectiveness, achieving an average body inclination error of 2.55% and a hydraulic cylinder synchronization error of 8.2%. These findings validate the feasibility and superiority of the proposed omnidirectional leveling system for the crawler work machine in hilly and mountainous regions. |
| format | Article |
| id | doaj-art-b297b6f80f9e480ab2509349105ac9bd |
| institution | Kabale University |
| issn | 2077-0472 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Agriculture |
| spelling | doaj-art-b297b6f80f9e480ab2509349105ac9bd2025-01-24T13:15:51ZengMDPI AGAgriculture2077-04722025-01-0115213710.3390/agriculture15020137A Novel Hydraulic Interconnection Design and Sliding Mode Synchronization Control of Leveling System for Crawler Work MachineRuochen Wang0Kaiqiang Zhang1Renkai Ding2Yu Jiang3Yiyong Jiang4School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaAutomotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaTo address the issues of easy overturning and poor safety of crawler work machines operating on steep slopes in hilly and mountainous areas, this study develops a structural design scheme based on a “three-layer frame” structure. An omnidirectional leveling system with hydraulic interconnection is designed to maintain platform stability by ensuring a stationary central point during leveling. Furthermore, a sliding mode synchronization control method based on a disturbance observer is proposed to reduce the synchronization error of the hydraulic cylinders and enhance leveling precision. The system’s performance is validated through an AMESim-MATLAB/Simulink co-simulation platform, demonstrating significant improvements over traditional PID control. Specifically, both lateral and longitudinal leveling times are reduced, rise time decreases by 21.8% on average, and overall leveling time is reduced by 35.5%, with synchronization errors maintained within ±6 × 10<sup>−4</sup> m. Finally, physical prototype testing further confirms the system’s effectiveness, achieving an average body inclination error of 2.55% and a hydraulic cylinder synchronization error of 8.2%. These findings validate the feasibility and superiority of the proposed omnidirectional leveling system for the crawler work machine in hilly and mountainous regions.https://www.mdpi.com/2077-0472/15/2/137crawler work machineomnidirectional levelinghydraulic interconnectionsliding mode synchronization control |
| spellingShingle | Ruochen Wang Kaiqiang Zhang Renkai Ding Yu Jiang Yiyong Jiang A Novel Hydraulic Interconnection Design and Sliding Mode Synchronization Control of Leveling System for Crawler Work Machine Agriculture crawler work machine omnidirectional leveling hydraulic interconnection sliding mode synchronization control |
| title | A Novel Hydraulic Interconnection Design and Sliding Mode Synchronization Control of Leveling System for Crawler Work Machine |
| title_full | A Novel Hydraulic Interconnection Design and Sliding Mode Synchronization Control of Leveling System for Crawler Work Machine |
| title_fullStr | A Novel Hydraulic Interconnection Design and Sliding Mode Synchronization Control of Leveling System for Crawler Work Machine |
| title_full_unstemmed | A Novel Hydraulic Interconnection Design and Sliding Mode Synchronization Control of Leveling System for Crawler Work Machine |
| title_short | A Novel Hydraulic Interconnection Design and Sliding Mode Synchronization Control of Leveling System for Crawler Work Machine |
| title_sort | novel hydraulic interconnection design and sliding mode synchronization control of leveling system for crawler work machine |
| topic | crawler work machine omnidirectional leveling hydraulic interconnection sliding mode synchronization control |
| url | https://www.mdpi.com/2077-0472/15/2/137 |
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