Transplanting machine and leveling method and device based on variant synovium active-disturbance-rejection control thereof

Abstract

The invention relates to a transplanter and a leveling method and device based on variant synovial mode active-disturbance-rejection control thereof, the transplanter comprises a leveling device, and the leveling method is adopted for transverse leveling; establishing a transplanting machine three-dimensional model, and establishing a transplanting machine dynamic model according to the transplanting machine three-dimensional model in ADAMS; establishing a mathematical model of a driving motor of the transplanter; setting an integral sliding mode surface based on the defined angle tracking error variable, performing normalization processing on the integral sliding mode surface by adopting a nonlinear function, and calculating control input according to the state of the integral sliding mode surface and an estimated value of an active-disturbance-rejection expansion state observer; a total disturbance estimation value of a controlled system is realized through the nonlinear extended state observer in combination with a measured actual angle, and variant sliding mode output and disturbance estimation are combined to obtain a variant sliding mode active-disturbance-rejection controller; the variant sliding mode active-disturbance-rejection controller controls the servo electric cylinder to stretch out and draw back and drives the leveling executing mechanism to swing, and rapid leveling of the transverse angle of the transplanter is achieved.

Description

Technical Field

[0001] The present invention relates to agricultural machinery and leveling technology thereof, in particular to a transplanter and a lateral leveling method and device thereof based on variant sliding film auto-disturbance rejection control. Background Art

[0002] Vegetable cultivation mostly relies on seedling transplanting. Faced with complex terrain such as hilly and mountainous areas, existing transplanters are inefficient and lack automation, making stable operation difficult and ensuring transplanting accuracy difficult. Early leveling systems relied on mechanical or simple hydraulic control and lacked real-time posture detection capabilities. They were unable to adjust the planting posture in real time based on the terrain, resulting in uneven transplanting depth or damage to the seedlings. During operation, mechanical impacts generated by the transplanter's planting and seedling removal mechanisms affect the stability of the transplanter's horizontal angle. For a transplanter, leveling time, leveling accuracy, and anti-interference capability are three key indicators of the leveling system. Existing leveling control is primarily based on the PID algorithm, with fuzzy control and other control methods introduced on this basis. However, these methods place high demands on the accuracy of the system model and are limited in response speed and accuracy under nonlinear and time-varying disturbances. Furthermore, the collaborative efficiency between the algorithm and the actuator is also low. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a transplanter and a leveling method and device thereof based on variant synovial auto-disturbance rejection control in response to the above-mentioned defects of the prior art.

[0004] In order to achieve the above-mentioned object, the present invention provides a leveling device for a transplanter based on variant synovial active disturbance rejection control, which includes:

[0005] a leveling actuator, which is arranged on the body of the transplanter and connected to the rear wheels of the transplanter;

[0006] A servo electric cylinder connected to the leveling actuator;

[0007] A variant synovial active disturbance rejection controller is connected to the servo electric cylinder;

[0008] The variant synovial anti-disturbance control controller controls the extension and contraction of the servo electric cylinder, drives the leveling actuator to swing, and realizes rapid leveling of the lateral angle of the transplanter.

[0009] The above-mentioned leveling device of the transplanter based on variant synovial anti-disturbance control, wherein the servo electric cylinder includes a servo motor and a push rod, the servo motor is connected to the variant synovial anti-disturbance control controller, and the two ends of the push rod are respectively connected to the servo motor and the leveling actuator.

[0010] The above-mentioned leveling device of the transplanter based on variant synovial anti-disturbance control, wherein the leveling actuators are in two groups, which are symmetrically arranged on both sides of the vehicle body and respectively connected to the corresponding rear wheels; a servo electric cylinder is correspondingly arranged for each group of the leveling actuators.

[0011] In order to better achieve the above-mentioned object, the present invention further provides a leveling method for a transplanter based on variant synovial active disturbance rejection control, wherein the above-mentioned leveling device is used to perform lateral leveling of the transplanter, comprising the following steps:

[0012] Establishing a three-dimensional model of the transplanter, and establishing a dynamic model of the transplanter in ADAMS based on the three-dimensional model of the transplanter;

[0013] Establish a mathematical model of the transplanter drive motor;

[0014] An integral sliding surface is set based on a defined angle tracking error variable, the integral sliding surface is normalized using a nonlinear function, and a control input is calculated based on a state of the integral sliding surface and an estimated value of an active disturbance rejection extended state observer;

[0015] By using the nonlinear extended state observer and combining the measured actual angle, a total disturbance estimation value of the controlled system is realized, and the variant synovial output and the disturbance estimation are combined to obtain a variant synovial active disturbance rejection controller;

[0016] A control simulation module for the transplanter and the servo motor is built in combination with a variant synovial active disturbance rejection controller. By adjusting the parameters of the variant synovial active disturbance rejection controller, the lateral angle of the transplanter can be quickly leveled.

[0017] In the above-mentioned transplanter leveling method based on variant synovial active disturbance rejection control, the variant synovial active disturbance rejection controller is obtained in the following manner:

[0018] Define the angle error variable:

[0019]

[0020] where θ e is the target angular velocity, θ a is the actual angular velocity, e1 is the error between the target position and the actual position, and e2 is the derivative of the error between the target position and the actual position;

[0021] The sliding surface of the proportional-integral-differential composite structure is set based on the angle error variable to ensure that the sliding surface contains complete information about the error dynamics. The integral term is introduced to compensate for system uncertainty through error accumulation, thereby completely suppressing the matching disturbance. The integral sliding surface s is:

[0022]

[0023] Among them, λ, γ, and β are adjustment parameters;

[0024] To avoid high-frequency chattering of the control input caused by the traditional sign function, a continuous saturation function is used, and the sliding membrane surface is normalized as follows:

[0025]

[0026] Where δ0, k, and α are adjustment parameters. δ(t) exhibits dynamic attenuation characteristics. As time passes, the exponential term approaches zero, and the function approaches saturation with a boundary layer thickness of α. While maintaining the robustness of the sliding mode, the steady-state error and the chattering amplitude are balanced by adjusting α. A dynamic trade-off between chattering suppression and convergence accuracy is achieved through time-varying parameters, and the continuity of the function ensures that the control law is differentiable.

[0027] In the above-mentioned leveling method of the transplanter based on variant synovial film active disturbance rejection control, the stability of the variant synovial film control is verified by using the Lyapunov stability theorem.

[0028] In the above-mentioned transplanter leveling method based on variant synovial membrane active disturbance rejection control, the active disturbance rejection extended state observer is:

[0029]

[0030] Where e is the difference between the estimated tilt angle and the actual angle, z1 is the estimated value of the actual angle, z2 is the estimated value of the tilt angular velocity, z3 is the estimated value of the total disturbance, β1, β2, and β3 are the error gains of each order of the nonlinear ADRC extended state observer, and the bandwidth method is used for adjustment to make the parameters of the nonlinear ADRC extended state observer easy to adjust and the error converge. ω0 is the observer bandwidth.

[0031] In the above-mentioned transplanter leveling method based on variant synovial membrane active disturbance rejection control, the step of establishing a transplanter dynamic model in ADAMS based on the transplanter three-dimensional model further includes:

[0032] The transplanter was simplified, retaining only the key executive components, including the front wheels, rear wheels, vehicle body, front axle, rear axle, and leveling actuator. A 3D model of the transplanter was obtained using SolidWorks.

[0033] The three-dimensional model of the transplanter is imported into ADAMS and constraints are added to obtain a dynamic model of the transplanter.

[0034] In the above-mentioned transplanter leveling method based on variant synovial membrane active disturbance rejection control, in step 2, establishing a mathematical model of the transplanter drive motor further includes:

[0035] The transplanter driving motor is a servo motor, and the motor model is established using matlab / simulink.

[0036] In order to better achieve the above-mentioned purpose, the present invention also provides a transplanter, which includes the above-mentioned leveling device based on variant synovial membrane anti-disturbance control and adopts the above-mentioned leveling method based on variant synovial membrane anti-disturbance control to perform lateral leveling.

[0037] The technical effects of the present invention are:

[0038] The present invention improves the leveling speed of the transplanter, and at the same time solves the problems of the transplanter's weak anti-interference ability under nonlinear and time-varying disturbances, and the slow convergence speed and poor anti-interference ability of the existing leveling controller in application; the sliding membrane surface is set to a composite structure containing proportional integral differential to ensure that the sliding membrane surface contains complete information on error dynamics, and an integral term is introduced to achieve compensation for system uncertainty through error accumulation, thereby forming a complete suppression of matching disturbances.

[0039] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this does not limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a structural block diagram of a leveling device according to an embodiment of the present invention;

[0041] Figure 2 This is a working principle diagram of a variant synovial active disturbance rejection controller according to an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of a servo motor control principle according to an embodiment of the present invention;

[0043] Figure 4 This is an ADAMS and matlab / simulink joint simulation model according to an embodiment of the present invention;

[0044] Figure 5 A schematic diagram of a variant synovial active disturbance rejection controller constructed according to an embodiment of the present invention;

[0045] Figure 6 This is a diagram of leveling simulation results according to an embodiment of the present invention;

[0046] Figure 7 This is a simplified SolidWorks schematic diagram of the transplanter structure according to one embodiment of the present invention;

[0047] Figure 8 This is a schematic diagram of the leveling principle of a transplanter according to an embodiment of the present invention.

[0048] Among them, the reference numerals

[0049] 1 car body

[0050] 2 front wheels

[0051] 3 rear wheels

[0052] 4 Leveling device

[0053] 41 leveling actuator

[0054] 42 servo cylinder

[0055] 421 servo motor

[0056] 422 servo actuator

[0057] 43 variant synovial active disturbance rejection controller

[0058] 5 rear axle

[0059] 6Front axle posture adjustment mechanism

[0060] 7. Inclination sensor

[0061] 8 front axle

[0062] 100 transplanter DETAILED DESCRIPTION

[0063] The structural principle and working principle of the present invention are described in detail below with reference to the accompanying drawings:

[0064] The transplanter 100 of the present invention, with its various components, composition, structure, relative positional relationships, connections, and functions, all embody relatively mature prior art. It differs from prior art in that it includes the following leveling device 4 based on variant synovial membrane anti-disturbance control, and employs a leveling method based on variant synovial membrane anti-disturbance control for lateral leveling. This leveling device 4 and method based on variant synovial membrane anti-disturbance control are used for leveling the transplanter 100 in hilly and mountainous terrain. Based on variant synovial membrane anti-disturbance control, this effectively addresses the weak anti-interference capability and slow leveling speed of the transplanter 100 when operating in hilly and mountainous terrain. Furthermore, the use of a co-simulation method allows for better simulation of the leveling process, facilitating analysis of the dynamic characteristics during the simulation.

[0065] See also Figure 1 , Figure 1This is a structural block diagram of the leveling device 4 according to an embodiment of the present invention. The leveling device 4 based on variant synovial anti-disturbance control of the transplanter 100 according to the present invention includes: a leveling actuator 41, which is arranged on the body 1 of the transplanter 100 and connected to the rear wheel 3 of the transplanter 100; a servo electric cylinder 42, which is connected to the leveling actuator 41; a variant synovial anti-disturbance control controller 43, which is connected to the servo electric cylinder 42; the variant synovial anti-disturbance control controller 43 controls the extension and contraction of the servo electric cylinder 42, driving the leveling actuator 41 to swing, thereby achieving rapid leveling of the lateral angle of the transplanter 100. The servo electric cylinder 42 of this embodiment includes a servo motor 421 and a push rod. The servo motor 421 is connected to the variant synovial anti-disturbance control controller 43, and the two ends of the push rod are respectively connected to the servo motor 421 and the leveling actuator 41. The leveling actuators 41 are preferably in two groups, which are symmetrically arranged on both sides of the vehicle body 1 and respectively connected to the corresponding rear wheels 3 ; a servo electric cylinder 42 is correspondingly arranged for each group of the leveling actuators 41 .

[0066] See also Figure 2 and Figure 3 , Figure 2 This is a working principle diagram of a variant synovial active disturbance rejection controller 43 according to an embodiment of the present invention. Figure 3 The control principle diagram of the servo motor 421 of one embodiment of the present invention is shown in FIG. The leveling method of the transplanter 100 of the present invention based on the variant synovial membrane active disturbance rejection control adopts the above-mentioned leveling device 4 to perform lateral leveling of the transplanter 100, including the following steps:

[0067] Step 1: Establish a three-dimensional model of the transplanter 100. In ADAMS, establish a dynamic model of the transplanter 100 based on the three-dimensional model of the transplanter 100. Further comprising:

[0068] The transplanter 100 is simplified, retaining only key executive components, including the vehicle body 1, front wheels 2, rear wheels 3, front axle 8, rear axle 5, and leveling actuator 41. It may also include a front axle posture adjustment mechanism 6 provided on the front axle 8. A three-dimensional model of the transplanter 100 is obtained using SolidWorks.

[0069] Import the three-dimensional model of the transplanter 100 into ADAMS and add constraints to obtain a dynamic model of the transplanter 100;

[0070] Step 2: Establish a mathematical model of the driving motor of the transplanter 100; the driving motor of the transplanter 100 is a servo motor 421, and the motor model is established using Matlab / Simulink;

[0071] Step 3: Set the integral sliding surface based on the defined angle tracking error variable. To prevent excessive sliding surface from causing excessive control output, normalize the integral sliding surface s using a nonlinear function. Calculate the control input based on the integral sliding surface state and the estimated value of the active disturbance rejection extended state observer. The active disturbance rejection extended state observer is:

[0072]

[0073] Where, e is the difference between the estimated tilt angle and the actual angle, z1 is the estimated value of the actual angle, z2 is the estimated value of the tilt angular velocity, z3 is the estimated value of the total disturbance, β1, β2, and β3 are the error gains of each order of the nonlinear ADRC extended state observer, and the bandwidth method is used for adjustment to make the parameters of the nonlinear ADRC extended state observer easy to adjust and the error converge. ω0 is the observer bandwidth;

[0074] Step 4: Using the nonlinear extended state observer and the measured actual angle, the total disturbance of the controlled system is estimated. The variant synovial output and the disturbance estimate are combined to obtain a variant synovial active disturbance rejection controller 43. The output voltage of the variant synovial active disturbance rejection controller 43 is input to the servo motor 421 to achieve tracking control of the target angle.

[0075] Step 5: Export the dynamic model of the transplanter 100 in ADAMS to generate a MATLAB / Simulink submodule as the transplanter 100 module. Add the servo electric cylinder 42 model to MATLAB / Simulink, and combine it with the set variant synovial active disturbance rejection controller 43. Build an ADAMS and MATLAB / Simulink joint simulation model in MATLAB / Simulink, combine the control module, servo motor 421 module and dynamic module, assign command signals to them, and achieve rapid leveling of the transplanter 100 by adjusting the various parameters in the variant synovial active disturbance rejection controller 43.

[0076] In this embodiment, the variant synovial active disturbance rejection controller 43 is obtained in the following manner:

[0077] Define the angle error variable:

[0078]

[0079] where θ e is the target angular velocity, θ a is the actual angular velocity, e1 is the error between the target position and the actual position, and e2 is the derivative of the error between the target position and the actual position;

[0080] The sliding surface of the proportional-integral-differential composite structure is set based on the angle error variable to ensure that the sliding surface contains complete information about the error dynamics. The integral term is introduced to compensate for system uncertainty through error accumulation, thereby completely suppressing the matching disturbance. The integral sliding surface s is:

[0081]

[0082] Among them, λ, γ, and β are adjustment parameters;

[0083] To avoid high-frequency chattering of the control input caused by the traditional sign function, a continuous saturation function is used, and the sliding membrane surface is normalized as follows:

[0084]

[0085] Where δ0, k, and α are adjustment parameters. δ(t) exhibits dynamic attenuation characteristics. As time passes, the exponential term approaches zero, and the function approaches saturation with a boundary layer thickness of α. While maintaining the robustness of the sliding mode, the steady-state error and the chattering amplitude are balanced by adjusting α. A dynamic trade-off between chattering suppression and convergence accuracy is achieved through time-varying parameters, and the continuity of the function ensures that the control law is differentiable.

[0086] In this embodiment, the stability of the variant sliding film controller is verified by using Lyapunov's stability theorem.

[0087] In one embodiment of the present invention, a method for lateral leveling of a transplanter 100 based on variant synovial active disturbance rejection control includes:

[0088] Step 1: Establish a three-dimensional model of the transplanter 100, establish a dynamic model of the transplanter 100 based on the three-dimensional model of the transplanter 100, and simplify the transplanter 100 appropriately, such as Figure 7 and Figure 8 As shown, it includes wheels, a vehicle body 1, a front axle, a rear axle, a leveling actuator 41, and a servo cylinder 42. The drawing is made using SolidWorks. Points A and G are fixed points of the vehicle body 1, B and F are movable hinge points, CE is the rear axle shaft, D and H are the wheel centers of the rear wheels, BCD and FEH are fixed links with an angle of 90°, and leveling is achieved by extending AB and contracting GF or contracting AB and extending GF to drive the leveling actuator 41 to rotate to achieve the leveling of the vehicle in the x-axis direction.

[0089] The three-dimensional model of the leveling part includes the servo cylinder 42, the leveling actuator 41, and the vehicle body 1. The remaining structures are appropriately simplified. The leveling method is to achieve lateral adjustment of the vehicle body 1 by making the two servo cylinders 42 corresponding to the rear wheels 3 extend and contract in coordination.

[0090] Import the 3D model into ADAMS and add constraints: the electric cylinder and vehicle body 1, as well as the electric cylinder and actuator, are connected by revolute joints, the inner push rod and the outer push rod are connected by translation joints, the wheels are in contact with the ground, and the ground is set to a slope with an initial inclination of 10°.

[0091] Step 2. In this embodiment, two servo motors 421 are provided on the left and right. A dynamic model is established for each servo electric cylinder 42. The rotation of the servo motor 421 provides power to drive the push rod to extend and retract. The servo electric cylinder 42 is a mechanical structure connection combination of the push rod and the servo motor 421. The servo electric cylinder 42 is composed of the servo motor 421 and the push rod. The variant synovial self-anti-disturbance controller 43 in the constructed hardware circuit adopts the single-chip microcomputer STM32F103ZET6. The single-chip microcomputer outputs the motor control signal. The servo motor 421 drives the servo push rod 422 to move and drive the leveling actuator 41 to achieve lateral leveling of the vehicle body 1. The inclination sensor 7 of the vehicle body 1 detects the lateral angle of the vehicle body 1 in real time. The lateral angle signal is input to the single-chip microcomputer. The control program of the variant synovial self-anti-disturbance is stored in the single-chip microcomputer. Figure 3 As shown, the servo motor 421 model is established using matlab / Simulink, and the left and right motor models are the same;

[0092] Step 3: According to the servo motor 421 model, set the variant synovial active disturbance rejection controller 43, such as Figure 2 As shown, the steps are as follows:

[0093] For the servo motor 421 model, take it as a system and its dynamic model is:

[0094]

[0095] Where y represents the angular displacement, represents the angular velocity, represents angular acceleration, m is inertial load, K is torque constant, u is control input, B is friction coefficient, represents other modeled disturbances and other unmodeled dynamics, and t represents time;

[0096] Define the angle error variable:

[0097]

[0098] where θ e is the target angular velocity, θ a is the actual angular velocity, e1 is the error between the target position and the actual position, and e2 is the derivative of the error between the target position and the actual position;

[0099] The sliding surface of the proportional-integral-differential composite structure is set based on the angle error variable to ensure that the sliding surface contains complete information about the error dynamics. The integral term is introduced to compensate for system uncertainty through error accumulation, thereby completely suppressing the matching disturbance. The integral sliding surface s is:

[0100]

[0101] Among them, λ, γ, and β are adjustment parameters;

[0102] In order to avoid high-frequency chattering of the control input caused by the traditional sign function, a continuous saturation function is used and the sliding membrane surface is normalized:

[0103]

[0104] Where δ0, k, and α are adjustment parameters. δ(t) exhibits dynamic attenuation characteristics. As time passes, the exponential term approaches zero. At this point, the function approaches saturation with a boundary layer thickness of α. While maintaining the robustness of the sliding mode, the steady-state error and the chattering amplitude are balanced by adjusting α. A dynamic trade-off between chattering suppression and convergence accuracy is achieved through time-varying parameters. Function continuity ensures that the control law is differentiable.

[0105] The servo motor 421 equations can be written in state space form as follows:

[0106]

[0107] In order to verify the stability of the variant synovial controller, Lyapunov stability theorem is used to prove the stability of the variant synovial controller.

[0108] From formula (4), we can know that:

[0109]

[0110] From formula (5), we can get:

[0111]

[0112] Combining equations (4), (5), and (6), we get:

[0113]

[0114] Derivative of the selected synovial surface s:

[0115]

[0116] Combining equations (7) and (8), we get:

[0117]

[0118] In order to make the synovial surface converge, the output u of the synovial control needs to satisfy the synovial surface According to the stability condition of the extended state observer, the disturbance compensation is assumed to be bounded, that is, |d(x,t)|≤D. According to formula (4), the control input u is:

[0119]

[0120] Where K is the control gain, and K>D;

[0121] Substituting formula (10) into formula (9) yields:

[0122]

[0123] Choose a Lyapunov function:

[0124]

[0125] The derivative of it is:

[0126]

[0127] From formula (3), we can get:

[0128]

[0129] And |d(x,t)|≤D, so:

[0130]

[0131] When |s|≠0,

[0132]

[0133] Since K>D and So we have:

[0134] V≤|s|(-K+D)<0;

[0135] So we can get V is a non-increasing function, and s approaches 0.

[0136] The error, the derivative of the error, and the total disturbance of the system are estimated by the nonlinear extended state observer in the active disturbance rejection control. The nonlinear extended state observer is as follows:

[0137]

[0138] Where, e is the difference between the estimated tilt angle and the actual angle, z1 is the estimated value of the actual angle, z2 is the estimated value of the tilt angular velocity, z3 is the estimated value of the total disturbance, β1, β2, β3 are the error gains of each order of the nonlinear extended state observer, and in order to make the parameters of the nonlinear extended state observer easy to adjust and the error converge, the bandwidth method is used to adjust it, where the parameter ω0 is the observer bandwidth;

[0139] Step 4: Export the dynamic model of the transplanter 100 in ADAMS to generate a MATLAB / Simulink submodule as the vehicle module of the transplanter 100. Add the servo cylinder 42 model in MATLAB / Simulink and combine it with the set variant synovial active disturbance rejection controller 43, as shown in the following example: Figure 4 As shown, the data of the inclination sensor 7 is fed back to the controller, and after being processed by the control algorithm, it is output to the servo electric cylinder 42 model to achieve higher precision lateral level adjustment of the transplanter 100. The simulation structure of the variant synovial anti-disturbance controller 43 is shown as follows Figure 5 shown.

[0140] The transplanter 100 of the present invention was drawn using SolidWorks. The components of the transplanter 100 were simplified, retaining only the essential parts. The bare vehicle weighs 250 kg, the servo cylinder 42 has a stroke range of 0-100 mm, the front wheels 2 are driven wheels that passively follow the slope, and the rear wheels 3 are driving wheels with a wheelbase of 900 mm. The ground environment is contoured, with a longitudinal slope angle of 0° and a transverse initial slope angle of 10°.

[0141] The output of the variant synovial auto-disturbance rejection controller 43 is sent to the servo motor 421, which drives the servo push rod 422 to drive the leveling mechanism to achieve lateral leveling of the vehicle body 1. The vehicle body 1's own sensor detects the lateral angle of the vehicle body 1 in real time, and the real-time lateral angle is input as feedback to the variant synovial auto-disturbance rejection controller 43, forming a complete closed-loop control.

[0142] According to the above modeling method, the system is simulated, and the simulation results are as follows: Figure 6 As shown, the results are analyzed as follows: the lateral angle of the transplanter 100 reaches a stable state at 5.16s, and the steady-state error is ±0.1°. The variant synovial auto-disturbance rejection controller 43 is essentially a combination of the structure of the variant synovial control and the auto-disturbance rejection control. The function of the variant synovial control is to make the output of the system converge quickly, while the purpose of the auto-disturbance rejection control is to improve the anti-disturbance ability of the system. The combination of the advantages of the two overcomes the problems of slow leveling speed and weak anti-disturbance ability. Figure 6The simulation curve shown is a curve of the transplanter 100 adjusting from an inclination angle of 10° to 0° after the simulation is started. At about 3 seconds, the lateral angle of the transplanter 100 is already within 0.2°, and it reaches a stable state at about 5 seconds, almost close to 0°, and then remains stable.

[0143] The present invention first establishes a dynamic model of the transplanter 100 based on the three-dimensional model of the transplanter 100; establishes a mathematical model for each leveling servo motor 421; then sets a variant synovial auto-disturbance rejection controller 43; exports the transplanter 100 model to generate a MATLAB / Simulink submodule as the transplanter 100 module, adds the servo motor 421 model to MATLAB / Simulink, and combines the set variant synovial auto-disturbance rejection controller 43 module to build a control simulation module for the transplanter 100 and the servo motor 421, provides a target angle signal, and achieves rapid leveling of the transplanter 100 by adjusting various parameters in the control module, effectively overcoming the problems of slow leveling speed, poor accuracy, and weak anti-interference ability.

[0144] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A leveling device for a transplanter based on variant synovial active disturbance rejection control, characterized in that: include: a leveling actuator, which is arranged on the body of the transplanter and connected to the rear wheels of the transplanter; A servo electric cylinder connected to the leveling actuator; A variant synovial active disturbance rejection controller is connected to the servo electric cylinder; The variant synovial anti-disturbance control controller controls the extension and contraction of the servo electric cylinder, drives the leveling actuator to swing, and realizes rapid leveling of the lateral angle of the transplanter.

2. The leveling device of the transplanter based on variant synovial membrane active disturbance rejection control according to claim 1, characterized in that: The servo electric cylinder includes a servo motor and a push rod. The servo motor is connected to the variant synovial active disturbance rejection controller. The two ends of the push rod are respectively connected to the servo motor and the leveling actuator.

3. The leveling device of the transplanter based on variant synovial film active disturbance rejection control according to claim 1 or 2, characterized in that: There are two groups of leveling actuators, which are symmetrically arranged on both sides of the vehicle body and respectively connected to the corresponding rear wheels; a servo electric cylinder is correspondingly arranged for each group of leveling actuators.

4. A leveling method for a transplanter based on variant synovial active disturbance rejection control, characterized in that: The horizontal leveling of a transplanter is performed using the leveling device according to any one of claims 1 to 3, comprising the following steps: Establishing a three-dimensional model of the transplanter, and establishing a dynamic model of the transplanter in ADAMS based on the three-dimensional model of the transplanter; Establish a mathematical model of the transplanter drive motor; An integral sliding surface is set based on a defined angle tracking error variable, the integral sliding surface is normalized using a nonlinear function, and a control input is calculated based on a state of the integral sliding surface and an estimated value of an active disturbance rejection extended state observer; The nonlinear extended state observer is used to estimate the total disturbance of the controlled system in combination with the measured actual angle, and the variant synovial output is combined with the disturbance estimate to obtain a variant synovial active disturbance rejection controller; A control simulation module for the transplanter and the servo motor is built in combination with a variant synovial active disturbance rejection controller. By adjusting the parameters of the variant synovial active disturbance rejection controller, the lateral angle of the transplanter can be quickly leveled.

5. The leveling method of the transplanter based on variant synovial membrane active disturbance rejection control according to claim 4, characterized in that: The variant synovial active disturbance rejection controller is obtained in the following way: Define the angle error variable: where θ e is the target angular velocity, θ a is the actual angular velocity, e1 is the error between the target position and the actual position, and e2 is the derivative of the error between the target position and the actual position; The sliding surface of the proportional-integral-differential composite structure is set based on the angle error variable to ensure that the sliding surface contains complete information about the error dynamics. The integral term is introduced to compensate for system uncertainty through error accumulation, thereby completely suppressing the matching disturbance. The integral sliding surface s is: Among them, λ, γ, and β are adjustment parameters; To avoid high-frequency chattering of the control input caused by the traditional sign function, a continuous saturation function is used, and the sliding membrane surface is normalized as follows: Where δ0, k, and α are adjustment parameters. δ(t) exhibits dynamic attenuation characteristics. As time passes, the exponential term approaches zero, and the function approaches saturation with a boundary layer thickness of α. While maintaining the robustness of the sliding mode, the steady-state error and the chattering amplitude are balanced by adjusting α. A dynamic trade-off between chattering suppression and convergence accuracy is achieved through time-varying parameters, and the continuity of the function ensures that the control law is differentiable.

6. The leveling method of the transplanter based on variant synovial film active disturbance rejection control according to claim 5, characterized in that: The stability of variant synovial control is verified using Lyapunov stability theorem.

7. The leveling method of a transplanter based on variant synovial film active disturbance rejection control according to claim 4, characterized in that: The ADRC extended state observer is: Where e is the difference between the estimated tilt angle and the actual angle, z1 is the estimated value of the actual angle, z2 is the estimated value of the tilt angular velocity, z3 is the estimated value of the total disturbance, β1, β2, and β3 are the error gains of each order of the nonlinear ADRC extended state observer, and the bandwidth method is used for adjustment to make the parameters of the nonlinear ADRC extended state observer easy to adjust and the error converge. ω0 is the observer bandwidth.

8. The leveling method of a transplanter based on variant synovial membrane active disturbance rejection control according to claim 4, characterized in that: The steps of establishing a dynamic model of the transplanter based on the three-dimensional model of the transplanter in ADAMS further include: The transplanter was simplified, retaining only the key executive components, including the front wheels, rear wheels, vehicle body, front axle, rear axle, and leveling actuator. A 3D model of the transplanter was obtained using SolidWorks. The three-dimensional model of the transplanter is imported into ADAMS and constraints are added to obtain a dynamic model of the transplanter.

9. The leveling method of a transplanter based on variant synovial film active disturbance rejection control according to claim 4, characterized in that: In step 2, establishing a mathematical model of the transplanter drive motor further includes: The transplanter driving motor is a servo motor, and the motor model is established using matlab / simulink.

10. A transplanter, characterized in that: The invention comprises a leveling device based on variant synovial active disturbance rejection control as described in any one of claims 1-3, and adopts a leveling method based on variant synovial active disturbance rejection control as described in any one of claims 4-9 for lateral leveling.

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