DESIGN AND STUDY ON THE ADAPTIVE LEVELING CONTROL SYSTEM OF THE CRAWLER TRACTOR IN HILLY AND MOUNTAINOUS AREAS

In order to improve the automation level of the crawler tractor leveling system, an adaptive leveling control system was designed for the developed crawler tractor leveling device. The overall hardware of the leveling control system was determined and the software system of the leveling device was designed using the proportional algorithm. The designed leveling control system is composed of the real-time detection part, control part, driving part and display part. The system can realize the real-time detection of the tractor inclination angle, and complete rapid leveling of the leveling device. The test results of the leveling control system show that the leveling accuracy and leveling time of the lateral and longitudinal slope increase with the increase of the tractor inclination angle. The leveling accuracy and stability of the longitudinal slope are better than that of lateral slope leveling, and the leveling speed is higher than that of the lateral slope. The coordination leveling accuracy is higher than the independent leveling accuracy of the lateral slope and longitudinal slope, and the collaborative leveling accuracy of the longitudinal slope is better than that of the independent leveling accuracy. The developed leveling control system can independently complete the leveling work under the actual working conditions of the crawler tractor. The leveling accuracy can be in 1 degrees and the leveling time is in 0-6 s. The leveling accuracy and time can meet the design requirements.