PSO-PID-based optimization and HIL verification method for the rear-mounted linkage adjustment of hilly-mountainous tractors
Abstract For the rear-mounted linkage adjustment system using traditional PID control, it is difficult to determine the optimal PID parameters, which leads to the problems of excessive overshoot, slow adjustment speed, insufficient precision and poor tracking performance in implements attitude adjus...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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Springer
2025-07-01
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| Series: | Discover Applied Sciences |
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| Online Access: | https://doi.org/10.1007/s42452-025-07543-8 |
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| author | Yiwei Wu Chengkang Yao Mengnan Liu Jingyun Zhang Lin Wang Xiaoxiao Du Xianghai Yan |
| author_facet | Yiwei Wu Chengkang Yao Mengnan Liu Jingyun Zhang Lin Wang Xiaoxiao Du Xianghai Yan |
| author_sort | Yiwei Wu |
| collection | DOAJ |
| description | Abstract For the rear-mounted linkage adjustment system using traditional PID control, it is difficult to determine the optimal PID parameters, which leads to the problems of excessive overshoot, slow adjustment speed, insufficient precision and poor tracking performance in implements attitude adjustment. In this paper, a rear-mounted linkage device with independent control of dual hydraulic cylinders is designed, and an optimization method for rear suspension adjustment based on Particle Swarm Optimization (PSO) algorithm to optimize the PID parameters is proposed. A simulation model of the rear-mounted linkage adjustment system was constructed, and MATLAB/Simulink simulation comparison tests and Hardware-in-the-Loop validation tests were conducted. The results show that compared to traditional PID control, the PSO-PID controller reduces the response time by 28.52% in tracking the target tilt angle, decreases the overshoot by 43.87%, and significantly improves the dynamic characteristics of the system. This verifies the effectiveness of the optimization method proposed in this paper, which is of great significance and value for improving the operational efficiency of hilly and mountainous tractors, reducing energy consumption, and protecting soil ecology. |
| format | Article |
| id | doaj-art-04761369fbbc481fa2a7e8940a7077eb |
| institution | Kabale University |
| issn | 3004-9261 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | Springer |
| record_format | Article |
| series | Discover Applied Sciences |
| spelling | doaj-art-04761369fbbc481fa2a7e8940a7077eb2025-08-20T03:42:52ZengSpringerDiscover Applied Sciences3004-92612025-07-017813410.1007/s42452-025-07543-8PSO-PID-based optimization and HIL verification method for the rear-mounted linkage adjustment of hilly-mountainous tractorsYiwei Wu0Chengkang Yao1Mengnan Liu2Jingyun Zhang3Lin Wang4Xiaoxiao Du5Xianghai Yan6College of Vehicle and Traffic Engineering, Henan University of Science and TechnologyCollege of Vehicle and Traffic Engineering, Henan University of Science and TechnologyState Key Laboratory of Intelligent Agricultural Power EquipmentCollege of Vehicle and Traffic Engineering, Henan University of Science and TechnologyState Key Laboratory of Intelligent Agricultural Power EquipmentYTO Group CorporationCollege of Vehicle and Traffic Engineering, Henan University of Science and TechnologyAbstract For the rear-mounted linkage adjustment system using traditional PID control, it is difficult to determine the optimal PID parameters, which leads to the problems of excessive overshoot, slow adjustment speed, insufficient precision and poor tracking performance in implements attitude adjustment. In this paper, a rear-mounted linkage device with independent control of dual hydraulic cylinders is designed, and an optimization method for rear suspension adjustment based on Particle Swarm Optimization (PSO) algorithm to optimize the PID parameters is proposed. A simulation model of the rear-mounted linkage adjustment system was constructed, and MATLAB/Simulink simulation comparison tests and Hardware-in-the-Loop validation tests were conducted. The results show that compared to traditional PID control, the PSO-PID controller reduces the response time by 28.52% in tracking the target tilt angle, decreases the overshoot by 43.87%, and significantly improves the dynamic characteristics of the system. This verifies the effectiveness of the optimization method proposed in this paper, which is of great significance and value for improving the operational efficiency of hilly and mountainous tractors, reducing energy consumption, and protecting soil ecology.https://doi.org/10.1007/s42452-025-07543-8Hilly-mountainous tractorsRear-mounted linkageOptimization methodParticle swarm optimization PIDHardware-in-the-loopVerification method |
| spellingShingle | Yiwei Wu Chengkang Yao Mengnan Liu Jingyun Zhang Lin Wang Xiaoxiao Du Xianghai Yan PSO-PID-based optimization and HIL verification method for the rear-mounted linkage adjustment of hilly-mountainous tractors Discover Applied Sciences Hilly-mountainous tractors Rear-mounted linkage Optimization method Particle swarm optimization PID Hardware-in-the-loop Verification method |
| title | PSO-PID-based optimization and HIL verification method for the rear-mounted linkage adjustment of hilly-mountainous tractors |
| title_full | PSO-PID-based optimization and HIL verification method for the rear-mounted linkage adjustment of hilly-mountainous tractors |
| title_fullStr | PSO-PID-based optimization and HIL verification method for the rear-mounted linkage adjustment of hilly-mountainous tractors |
| title_full_unstemmed | PSO-PID-based optimization and HIL verification method for the rear-mounted linkage adjustment of hilly-mountainous tractors |
| title_short | PSO-PID-based optimization and HIL verification method for the rear-mounted linkage adjustment of hilly-mountainous tractors |
| title_sort | pso pid based optimization and hil verification method for the rear mounted linkage adjustment of hilly mountainous tractors |
| topic | Hilly-mountainous tractors Rear-mounted linkage Optimization method Particle swarm optimization PID Hardware-in-the-loop Verification method |
| url | https://doi.org/10.1007/s42452-025-07543-8 |
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