Simulation Analysis of a Self-balancing Hydraulic Platform for Agricultural Machinery in Mountainous Regions

Abstract

In mountainous regions, agricultural machinery is prone to bumping and jostling, which affects the operational accuracy and even causes accidents like rollovers. To solve these problems, this paper designs a self-balancing hydraulic platform for agricultural machinery to apply pesticide in mountainous regions. Based on MATLAB and Adams, the kinematics and dynamics of the proposed platform were simulated and analyzed in details. The kinematic simulation proves the stability of the platform and the rationality of the design parameters. Through dynamic simulation, the dynamic stress states of key components, such as cylinders and ball hinges, were identified, and the stiffness and strength of the relevant components were calculated. The simulation results further verify the validity of the platform design. On this basis, a physical prototype of the platform was designed and tested at ten different slopes. The test results indicate that that the platform completed leveling in 0.514s. During the levelling, the mean error and the maximum root mean square error peaked at 1.42° and 0.293°, respectively. The errors fall within the allowable range specified in the relevant national standard. Therefore, our platform has a high leveling accuracy and basically meets operational requirements. This research offers a desirable solution to the self-balancing of agricultural machinery operating in mountainous regions.

A self-balancing platform on a mobile car

“…The values from the navigation parameters, the enhanced measurements from the MPU-6050 sensor, and (PD-PI) robust control are used to increases the two-wheeled self-balancing robot's stability [18]. The linear-quadratic regulator (LQR) controller also has achieved better performance over PID controllers, especially the time domain response [19]. This article will be organized: in section 2, we present the proposed design of a self-balancing platform.…”

Simulation of a Self-Balancing Platform on the Mobile Car

“…The displacement curve application gave good results that helped the platform's hydraulic cylinders run smoothly and continuously during the self-levelling. The dynamic modelling is used to select suitable materials for (upper and lower planes, hydraulic cylinders, hinge circuits) to hold out the cylinder's maximum extension force and the maximum binding force of the ball hinge [13]. A Genetic Algorithm(GA)is a global algorithm base on Darwin's theory of evolution.…”