Design and Test of Adaptive Leveling System for Orchard Operation Platform

Abstract

When the orchard operation platform is in use within the orchard, issues of tilting and overturning can arise due to uneven ground, necessitating instant leveling. In this study, the orchard operation platform is simplified into a four-point leveling mechanism, and an adaptive leveling system based on an inertial measurement unit (IMU) is designed. The relationship between coordinate transformation is utilized to derive the platform tilt angle and the position error relationship of the electric actuator, allowing for the analysis of the angle adjustment factors of the leveling mechanism. Through co-simulation using MATLAB and ADAMS, fuzzy control is implemented in addition to PID control, resulting in improved performance. A prototype model of the orchard operation platform is produced and tested, with the platform’s attitude angle remaining stable within a range of ±1.5°. The average leveling time is found to be within 3.6 s. The mean values of dynamic leveling inclination under PID and fuzzy PID control are 2.6° and 1.6°, respectively, with corresponding standard deviations of 1.4° and 0.8°. It conforms to the development trend of agricultural machinery electrification and intelligence and provides a reference basis for manufacturers.