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Article(id=1311999764586128135, tenantId=1146029695717560320, journalId=1311385739772133495, issueId=1311999647825101743, articleNumber=null, orderNo=null, doi=10.6041/j.issn.1000-1298.2025.12.017, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1741190400000, receivedDateStr=2025-03-06, revisedDate=1743955200000, revisedDateStr=2025-04-07, acceptedDate=null, acceptedDateStr=null, onlineDate=1790734719653, onlineDateStr=2026-09-30, pubDate=1766592000000, pubDateStr=2025-12-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1790734719653, onlineIssueDateStr=2026-09-30, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1790734719653, creator=13701087609, updateTime=1790734719653, updator=13701087609, issue=Issue{id=1311999647825101743, tenantId=1146029695717560320, journalId=1311385739772133495, year='2025', volume='56', issue='12', pageStart='1', pageEnd='818', issueExtLink='null', onlineDate='null', pubDate='1766592000000', pubDateStr='2025-12-25', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=1, specialIssue=null, createTime=1790734691815, creator='13701087609', updateTime=1790738411040, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext={EN=IssueExt(id=1312015247465083866, tenantId=1146029695717560320, journalId=1311385739772133495, issueId=1311999647825101743, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1312015247465083867, tenantId=1146029695717560320, journalId=1311385739772133495, issueId=1311999647825101743, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null, downloadFileDto=null}, startPage=190, endPage=200, ext={EN=ArticleExt(id=1311999765089444616, articleId=1311999764586128135, tenantId=1146029695717560320, journalId=1311385739772133495, language=EN, title=Drive Wheel Slip Rate Detection Method and Experiment for Tractor Based on Multi-sensor Data Fusion, columnId=1311999648647185329, journalTitle=Transactions of the Chinese Society for Agricultural Machinery, columnName=Special Column of Key Technologies for Intelligent Agricultural Power Equipment, runingTitle=null, highlight=null, articleAbstract=

Accurate detection of the drive wheel slip in tractor ploughing operations is fundamental to achieving slip control, which helps improve the traction efficiency and ploughing quality of a tractor. To address the issue of ensuring the accuracy and real-time performance of slip rate detection under heavy load ploughing conditions, a slip rate detection method based on multisensor data fusion was proposed. A real-time data collection platform for tractor ploughing operations was established. Field experiments were conducted to obtain tillage speed, forward acceleration, tractor pitch angle, roll angle, traction resistance, tillage depth and corresponding slip rate under different operating conditions. A datasets was constructed and subjected to statistical analysis. Four machine learning algorithms—random forest (RF), support vector regression (SVR), radial basis function neural network (RBFNN), and artificial neural network (ANN)—were employed to construct the slip rate detection models. The hyperparameters of these models were optimized by using grid search and particle swarm optimization (PSO). The performance of the models was evaluated via three metrics: the coefficient of determination (R2), the root mean square error (RMSE), and the mean absolute percentage error (MAPE). The results indicated that, except for the RF model, which exhibited overfitting, the other three models achieved satisfactory slip rate predictions (R2>0.9). Among them, the ANN model optimized with particle swarm optimization (PSO) for initial threshold weight optimization outperformed both the SVR model with an R2 of 0.918, an RMSE of 2.6% and a MAPE of 8.9%, and the RBFNN model with an R2 of 0.903, an RMSE of 3.0%, and a MAPE of 8.8% on the test dataset, achieving an R2 of 0.937, an RMSE of 1.0%, and a MAPE of 7.6%. This method enabled reliable and accurate detection of tractor drive wheel slip rate, offering an approach for precise online detection and control of slip rate.

, authors=Shuo ZHANG, Yanqing LUO, Jingming WEN, Yu CHEN, Handong GONG, Jun CHEN, authorsList=Shuo ZHANG, Yanqing LUO, Jingming WEN, Yu CHEN, Handong GONG, Jun CHEN, authorCompany=null, correspAuthors=Jun CHEN, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1311999773079593783, articleId=1311999764586128135, tenantId=1146029695717560320, journalId=1311385739772133495, language=CN, title=基于多传感器数据融合的拖拉机驱动轮滑转率检测方法与试验, columnId=1311999648798180275, journalTitle=农业机械学报, columnName=智能农业动力装备关键技术专栏, runingTitle=null, highlight=null, articleAbstract=

犁耕作业拖拉机驱动轮滑转程度的精准检测是实现滑转率控制的基础，有助于提高拖拉机的牵引效率和犁耕作业质量。针对重负荷犁耕作业环境下滑转率检测准确性、实时性难以保证的问题，提出了一种基于多传感器数据融合的滑转率检测方法。搭建了拖拉机犁耕作业数据实时采集平台，通过田间试验获取不同工况下的犁耕速度、前进加速度、车身俯仰角、侧倾角、犁耕阻力、耕深以及对应的滑转率，构建数据集并进行统计学分析，基于随机森林（Random forest，RF）、支持向量回归（Support vector regression，SVR）、径向基神经网络（Radial basis function neural network，RBFNN）、人工神经网络（Artificial neural network，ANN）4种机器学习算法搭建滑转率检测模型，采用网格搜索（Grid search）、粒子群算法（Particle swarm optimization，PSO）对模型超参数进行寻优，并使用决定系数（R2）、均方根误差（RMSE）以及平均绝对百分比误差（MAPE）3种评价指标评估模型性能。结果表明，除RF模型存在过拟合现象外，其他3种模型均可以较好地实现滑转率的预测（R2>0.9）。其中，使用PSO进行初始阈值权重寻优的ANN模型在测试集的性能（R2为0.937，RMSE为1.0%，MAPE为7.6%）优于SVR模型（R2为0.918，RMSE为2.6%，MAPE为8.9%）与RBFNN模型（R2为0.903，RMSE为3.0%，MAPE为8.8%），能够更加可靠、精确地实现拖拉机驱动轮滑转率的检测，为实现滑转率精准在线检测与控制提供了新思路。

, authors=张硕, 罗岩青, 温景明, 陈雨, 弓寒冬, 陈军, authorsList=张硕, 罗岩青, 温景明, 陈雨, 弓寒冬, 陈军, authorCompany=null, correspAuthors=陈军, authorNote=

张硕（1989—），男，副教授，博士，主要从事农机装备智能化控制方法研究，E-mail：

, correspAuthorsNote=
陈军（1970—），男，教授，博士，主要从事智能农业装备研究，E-mail：
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张硕（1989—），男，副教授，博士，主要从事农机装备智能化控制方法研究，E-mail：

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张硕（1989—），男，副教授，博士，主要从事农机装备智能化控制方法研究，E-mail：

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Effect of mechanical compaction on soybean yield based on machine learning[J]. Transactions of the Chinese Society for Agricultural Machinery, 2023, 54(11): 139-147. (in Chinese), articleTitle=Effect of mechanical compaction on soybean yield based on machine learning, refAbstract=null), Reference(id=1311999796861297590, tenantId=1146029695717560320, journalId=1311385739772133495, articleId=1311999764586128135, doi=null, pmid=null, pmcid=null, year=2019, volume=188, issue=null, pageStart=14, pageEnd=23, url=null, language=null, rfNumber=[29], rfOrder=36, authorNames=MD-TAHIR H, ZHANG J, XIA J, journalName=Biosystems Engineering, refType=null, unstructuredReference=MD-TAHIR H, ZHANG J, XIA J, et al. Rigid lugged wheel for conventional agricultural wheeled tractors-optimising traction performance and wheel-soil interaction in field operations[J]. 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figureFileBig=r4aQGmnt4HXkL5XtWK40ew==, tableContent=null), ArticleFig(id=1311999786971128702, tenantId=1146029695717560320, journalId=1311385739772133495, articleId=1311999764586128135, language=EN, label=Tab. 1, caption=

Values of soil parameters in experiment area

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土层/cm土壤坚实度/kPa土壤含水率/%
0~10380.9912.58
10~20687.1113.74
20~30921.5214.84
30~402 195.4115.96
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试验区土壤参数

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土层/cm土壤坚实度/kPa土壤含水率/%
0~10380.9912.58
10~20687.1113.74
20~30921.5214.84
30~402 195.4115.96
), ArticleFig(id=1311999787101152128, tenantId=1146029695717560320, journalId=1311385739772133495, articleId=1311999764586128135, language=EN, label=Tab. 2, caption=

Types of sensors

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传感器名称型号
多普勒雷达DICKEY-John® Radar
接近开关E2B-M12LS04
倾角传感器CYQ/Q
力传感器ZHZX
惯性测量单元IIIWT61-TTL
), ArticleFig(id=1311999787277312897, tenantId=1146029695717560320, journalId=1311385739772133495, articleId=1311999764586128135, language=CN, label=表2, caption=

传感器型号

, figureFileSmall=null, figureFileBig=null, tableContent=
传感器名称型号
多普勒雷达DICKEY-John® Radar
接近开关E2B-M12LS04
倾角传感器CYQ/Q
力传感器ZHZX
惯性测量单元IIIWT61-TTL
), ArticleFig(id=1311999787348616066, tenantId=1146029695717560320, journalId=1311385739772133495, articleId=1311999764586128135, language=EN, label=Tab. 3, caption=

Ploughing experiment scheme

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试验序号挡位耕深/cm
1中速Ⅱ挡15
2中速Ⅱ挡25
3中速Ⅱ挡35
4中速Ⅲ挡15
5中速Ⅲ挡25
6中速Ⅲ挡35
), ArticleFig(id=1311999787407336323, tenantId=1146029695717560320, journalId=1311385739772133495, articleId=1311999764586128135, language=CN, label=表3, caption=

试验方案

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试验序号挡位耕深/cm
1中速Ⅱ挡15
2中速Ⅱ挡25
3中速Ⅱ挡35
4中速Ⅲ挡15
5中速Ⅲ挡25
6中速Ⅲ挡35
), ArticleFig(id=1311999787491222404, tenantId=1146029695717560320, journalId=1311385739772133495, articleId=1311999764586128135, language=EN, label=Tab. 4, caption=

Statistical description of variables

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统计学指标犁耕速度/（m·s-1）耕深/cm犁耕阻力/N前进加速度/（m·s-2）车身俯仰角/（°）车身侧倾角/（°）
最小值1.489.106 816.41-0.24-1.972.60
最大值2.7445.5536 015.630.498.3613.84
平均值2.3028.0123 242.630.032.459.06
标准差0.175.174 486.350.091.901.87
峰值-1.070.17-0.080.760.82-0.19
偏度1.861.050.122.190.17-0.06
变异系数/%7.2518.4619.30292.0577.4720.65
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变量统计学描述

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统计学指标犁耕速度/（m·s-1）耕深/cm犁耕阻力/N前进加速度/（m·s-2）车身俯仰角/（°）车身侧倾角/（°）
最小值1.489.106 816.41-0.24-1.972.60
最大值2.7445.5536 015.630.498.3613.84
平均值2.3028.0123 242.630.032.459.06
标准差0.175.174 486.350.091.901.87
峰值-1.070.17-0.080.760.82-0.19
偏度1.861.050.122.190.17-0.06
变异系数/%7.2518.4619.30292.0577.4720.65
), ArticleFig(id=1311999787721909126, tenantId=1146029695717560320, journalId=1311385739772133495, articleId=1311999764586128135, language=EN, label=Tab. 5, caption=

Values of PSO

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参数数值
种群规模40
学习因子C12
学习因子C22
最大/最小速度1/-1
最大/最小边界1/-1
迭代次数100
), ArticleFig(id=1311999787805795207, tenantId=1146029695717560320, journalId=1311385739772133495, articleId=1311999764586128135, language=CN, label=表5, caption=

粒子群算法参数

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参数数值
种群规模40
学习因子C12
学习因子C22
最大/最小速度1/-1
最大/最小边界1/-1
迭代次数100
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Optimal model results with different training algorithms and hidden layer activation functions

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训练算法隐藏层激活函数隐藏层节点数训练集测试集
R2RMSE/%MAPE/%R2RMSE/%MAPE/%
Levenberg-MarquardtTansig120.940 360.995 86.940 60.936 901.045 87.489 7
Logsig110.939 341.004 27.003 70.936 881.046 07.539 6
Softmax250.939 151.005 86.993 00.927 231.123 28.193 6
Bayesian regularizationTansig110.939 011.007 07.024 80.936 751.047 27.576 0
Logsig110.939 021.006 97.027 90.936 801.046 77.571 8
Softmax240.936 541.027 27.136 90.928 351.114 58.271 9
Quasi-NewtonTansig120.940 350.995 96.977 00.936 961.045 47.449 8
Logsig110.939 331.004 47.003 20.936 871.046 27.552 6
Softmax240.936 581.026 87.141 90.925 251.138 48.502 2
), ArticleFig(id=1311999788166505353, tenantId=1146029695717560320, journalId=1311385739772133495, articleId=1311999764586128135, language=CN, label=表6, caption=

不同训练算法及隐藏层激活函数下的最优模型结果

, figureFileSmall=null, figureFileBig=null, tableContent=
训练算法隐藏层激活函数隐藏层节点数训练集测试集
R2RMSE/%MAPE/%R2RMSE/%MAPE/%
Levenberg-MarquardtTansig120.940 360.995 86.940 60.936 901.045 87.489 7
Logsig110.939 341.004 27.003 70.936 881.046 07.539 6
Softmax250.939 151.005 86.993 00.927 231.123 28.193 6
Bayesian regularizationTansig110.939 011.007 07.024 80.936 751.047 27.576 0
Logsig110.939 021.006 97.027 90.936 801.046 77.571 8
Softmax240.936 541.027 27.136 90.928 351.114 58.271 9
Quasi-NewtonTansig120.940 350.995 96.977 00.936 961.045 47.449 8
Logsig110.939 331.004 47.003 20.936 871.046 27.552 6
Softmax240.936 581.026 87.141 90.925 251.138 48.502 2
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基于多传感器数据融合的拖拉机驱动轮滑转率检测方法与试验
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张硕 , 罗岩青 , 温景明 , 陈雨 , 弓寒冬 , 陈军
农业机械学报 | 智能农业动力装备关键技术专栏 2025,56(12): 190-200
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农业机械学报 |智能农业动力装备关键技术专栏 2025 , 56 (12) : 190 -200
基于多传感器数据融合的拖拉机驱动轮滑转率检测方法与试验
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张硕 , 罗岩青, 温景明, 陈雨, 弓寒冬, 陈军
作者信息
  • 西北农林科技大学机械与电子工程学院，陕西杨凌　712100
通讯作者:
陈军（1970—），男，教授，博士，主要从事智能农业装备研究，E-mail：
作者简介:

张硕（1989—），男，副教授，博士，主要从事农机装备智能化控制方法研究，E-mail：

Drive Wheel Slip Rate Detection Method and Experiment for Tractor Based on Multi-sensor Data Fusion
Shuo ZHANG , Yanqing LUO, Jingming WEN, Yu CHEN, Handong GONG, Jun CHEN
Affiliations
  • College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling, Shaanxi 712100, China
出版时间: 2025-12-25 doi: 10.6041/j.issn.1000-1298.2025.12.017
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摘要
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犁耕作业拖拉机驱动轮滑转程度的精准检测是实现滑转率控制的基础，有助于提高拖拉机的牵引效率和犁耕作业质量。针对重负荷犁耕作业环境下滑转率检测准确性、实时性难以保证的问题，提出了一种基于多传感器数据融合的滑转率检测方法。搭建了拖拉机犁耕作业数据实时采集平台，通过田间试验获取不同工况下的犁耕速度、前进加速度、车身俯仰角、侧倾角、犁耕阻力、耕深以及对应的滑转率，构建数据集并进行统计学分析，基于随机森林（Random forest，RF）、支持向量回归（Support vector regression，SVR）、径向基神经网络（Radial basis function neural network，RBFNN）、人工神经网络（Artificial neural network，ANN）4种机器学习算法搭建滑转率检测模型，采用网格搜索（Grid search）、粒子群算法（Particle swarm optimization，PSO）对模型超参数进行寻优，并使用决定系数（R2）、均方根误差（RMSE）以及平均绝对百分比误差（MAPE）3种评价指标评估模型性能。结果表明，除RF模型存在过拟合现象外，其他3种模型均可以较好地实现滑转率的预测（R2>0.9）。其中，使用PSO进行初始阈值权重寻优的ANN模型在测试集的性能（R2为0.937，RMSE为1.0%，MAPE为7.6%）优于SVR模型（R2为0.918，RMSE为2.6%，MAPE为8.9%）与RBFNN模型（R2为0.903，RMSE为3.0%，MAPE为8.8%），能够更加可靠、精确地实现拖拉机驱动轮滑转率的检测，为实现滑转率精准在线检测与控制提供了新思路。

拖拉机  /  犁耕作业  /  滑转率  /  多传感器数据融合  /  超参数寻优

Accurate detection of the drive wheel slip in tractor ploughing operations is fundamental to achieving slip control, which helps improve the traction efficiency and ploughing quality of a tractor. To address the issue of ensuring the accuracy and real-time performance of slip rate detection under heavy load ploughing conditions, a slip rate detection method based on multisensor data fusion was proposed. A real-time data collection platform for tractor ploughing operations was established. Field experiments were conducted to obtain tillage speed, forward acceleration, tractor pitch angle, roll angle, traction resistance, tillage depth and corresponding slip rate under different operating conditions. A datasets was constructed and subjected to statistical analysis. Four machine learning algorithms—random forest (RF), support vector regression (SVR), radial basis function neural network (RBFNN), and artificial neural network (ANN)—were employed to construct the slip rate detection models. The hyperparameters of these models were optimized by using grid search and particle swarm optimization (PSO). The performance of the models was evaluated via three metrics: the coefficient of determination (R2), the root mean square error (RMSE), and the mean absolute percentage error (MAPE). The results indicated that, except for the RF model, which exhibited overfitting, the other three models achieved satisfactory slip rate predictions (R2>0.9). Among them, the ANN model optimized with particle swarm optimization (PSO) for initial threshold weight optimization outperformed both the SVR model with an R2 of 0.918, an RMSE of 2.6% and a MAPE of 8.9%, and the RBFNN model with an R2 of 0.903, an RMSE of 3.0%, and a MAPE of 8.8% on the test dataset, achieving an R2 of 0.937, an RMSE of 1.0%, and a MAPE of 7.6%. This method enabled reliable and accurate detection of tractor drive wheel slip rate, offering an approach for precise online detection and control of slip rate.

tractor  /  ploughing operation  /  sliprate  /  multi-sensor datafusion  /  hyperparameter optimization
张硕, 罗岩青, 温景明, 陈雨, 弓寒冬, 陈军. 基于多传感器数据融合的拖拉机驱动轮滑转率检测方法与试验. 农业机械学报, 2025 , 56 (12) : 190 -200 . DOI: 10.6041/j.issn.1000-1298.2025.12.017
Shuo ZHANG, Yanqing LUO, Jingming WEN, Yu CHEN, Handong GONG, Jun CHEN. Drive Wheel Slip Rate Detection Method and Experiment for Tractor Based on Multi-sensor Data Fusion[J]. Transactions of the Chinese Society for Agricultural Machinery, 2025 , 56 (12) : 190 -200 . DOI: 10.6041/j.issn.1000-1298.2025.12.017
正文
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0　引言
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大田犁耕是拖拉机悬挂铧式犁、液压翻转犁等机具完成的重负荷作业过程，由于土壤条件和作业深度等原因，驱动轮易产生过度滑转。当滑转率保持在10%~15%范围内时，拖拉机将以最高效率运行[1]，若驱动轮过度滑转尤其是滑转率超过20%时，会极大地降低作业效率，增加油耗，加剧土壤压实，影响作物生产[2-3]。为规避上述问题，作业过程中必须对驱动轮滑转状况进行有效控制，其中，驱动轮滑转率的准确检测是首要前提，对后续滑转率的精确控制有着决定性作用[4]。构建实时、精确的滑转率检测方法对于降低燃油消耗，提高拖拉机犁耕作业效率和作业质量，促进农业绿色可持续发展有着重要意义[5]。
滑转率无法直接测量，普遍采用间接计算的方式，现有研究多通过分别采集车身速度和驱动轮转速来间接计算得到滑转率。在车身速度测量方面，早期多采用五轮仪[6]，但由于颠簸、打滑以及轮子尺寸误差等原因，测量精度较差，难以达到控制系统的要求[7]。现阶段常见的测量方式有标杆法[8]、非驱动轮轮速法[9-10]、GPS[11]、多普勒雷达[12]等。在拖拉机驱动轮轮速测量领域，多种传感器被广泛应用以确保测量精度，编码器[13]、光电式传感器[14]、霍尔式传感器[15]以及磁电式传感器[16]均为该领域的关键技术，为拖拉机驱动轮速的测量提供了多样化的解决方案。在上述传感器信号获取过程中，由于轮式拖拉机作业环境恶劣，测量信号易受外界干扰，且误差会随着时间积累放大，甚至导致信号丢失，致使实时测量信号失去参考价值。相关研究开始通过采用高精度的测量设备或信号调制[17]等方式提高传感器信号测量准确率，也有研究致力于通过多传感器数据融合解决单一传感器失效的问题[18-20]。但是，高精度的传感器增加了测量成本，难以在农业领域广泛应用，复杂的测试电路和融合方法降低了滑转率检测的实时性。
近年来，人工智能的发展和应用为农业领域提供了更多可能性[21]，各种机器学习模型被应用在多传感器数据融合中，用于拖拉机作业参数的实时精准测量[22-23]，也有研究尝试将机器学习应用于车轮滑转率的检测中[24-26]。现有涉及滑转率检测的研究中，模型较为单一且未考虑到拖拉机实际作业情况下车身运动状态对滑转率的影响。
本文综合考虑拖拉机犁耕作业环境以及作业状态，设计并搭建多传感器作业数据采集平台，通过田间试验获取犁耕作业数据集，并对数据集进行处理和统计学分析。随后基于该数据集，将犁耕速度、前进加速度、车身俯仰角、侧倾角、犁耕阻力以及耕深作为模型输入变量，分别构建和训练随机森林、支持向量回归、径向基神经网络以及人工神经网络4种机器学习模型实现滑转率检测。针对各个模型特点分别选用网格搜索和粒子群算法确定模型超参数，并采用合适的评价指标对模型表现进行评价。通过对比4种模型在训练集和测试集上的表现，优选出更加精准的模型用于犁耕作业过程中滑转率的检测，为拖拉机驱动轮滑转率检测提供新的思路。
1　材料和方法
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1.1　试验区概述
试验区位于陕西省西安市鄠邑区（34°06′N，108°34′E），地处暖温带半湿润大陆性季风气候区，主要耕作土壤类型为褐土，试验区长230 m、宽80 m，田间地面类型为需要深耕的荒地，如图1所示。试验前分别使用美国Spectrum SC-900型土壤紧实度测量仪以及烘干机对0~40 cm不同深度土层的土壤坚实度和土壤含水率进行测量，结果如表1所示。
1.2　数据获取
基于中国一拖LX1804型拖拉机挂接龙丰J-1LYFT-J360型三铧犁，搭建了数据采集平台。在拖拉机及三点悬挂处安装相关传感器，采集拖拉机作业数据集用于机器学习模型构建。分别使用多普勒雷达测量拖拉机的实时速度，接近开关搭配自主设计的90齿码盘测量拖拉机的驱动轮转速，倾角传感器间接测量耕深，力传感器测量作业时的犁耕阻力，IMU惯性测量单元测量拖拉机前进加速度、俯仰角以及侧倾角。使用接近开关获取的驱动轮转速作为理论车速，结合雷达获取的实际车速计算出数据集中驱动轮的标定滑转率，计算公式为
式中
      Vt——理论车速，m/s
      Va——实际车速，m/s
      S——标定滑转率，%
综合考虑数据采集需求以及实际作业环境，选用的传感器型号如表2所示。
将雷达通过自制支架安装于拖拉机底盘，信号发射面朝前进方向，相对目标水平地面夹角为35°，安装高度为600 mm；IMU测量单元安装于拖拉机底盘，安装时令X轴正方向指向拖拉机前进方向，传感器测量的数据中X轴加速度、俯仰角（Pitch）和侧倾角（Roll）分别对应拖拉机的前进加速度、车身俯仰角以及车身侧倾角；2个力传感器安装于下拉杆与犁具的连接处测量牵引阻力，通过辅助支架和螺栓固定，防止传感器旋转和脱出；倾角传感器安装在三点悬挂提升臂表面，通过田间试验直接标定提升臂角度与耕深的关系；90齿码盘通过辐板与轮辋的连接螺栓固定于后驱动轮，接近开关通过支架与拖拉机机架连接，安装完成后的犁耕作业数据采集平台如图2所示。
田间犁耕试验方案如表3所示，拖拉机分别以中速Ⅱ挡、中速Ⅲ挡在15、25、35 cm的耕深下直线行驶，每组试验重复3次。试验前启动拖拉机对平台进行调试确保数据采集系统正常运行。在试验田设置特定区域用于拖拉机启动，直至达到试验预设的行驶速度及耕深，试验数据仅采集稳定运行状态下的传感器数据。试验过程中，拖拉机油门保持较大开度确保行驶速度的稳定性，并通过后悬挂的上下浮动改变耕深，以获取完整的数据集。
1.3　数据处理及分析
机器学习前的数据处理是构建机器学习模型的关键步骤之一。首先，绘制数据集中各个变量的箱型图并通过统计分析了解数据分布情况，进行数据清洗和筛选删除离群噪声点，防止异常数据影响后续模型构建。其次，使用斯皮尔曼相关性分析选择影响滑转率的变量，结合拖拉机实际作业状态评估各个输入变量与滑转率之间的相关性，确保模型输入变量选择的合理性；明确模型输入变量间的相关性，以避免高度相关性变量存在，降低模型因输入冗余而增加的过拟合风险。本文的数据分析与统计使用IBM SPSS Statistics软件。
将处理分析后的数据集按照比例7∶3随机划分为训练集和测试集，训练集用于模型构建，测试集用于模型评价以及优化。由于不同变量的单位不同且数值范围差异较大，在模型构建前对所有输入数据进行归一化处理，以避免模型对特征的偏好，确保模型的公平性和准确性，同时提高模型的收敛速度和稳定性。最大值、最小值映射到[-1，1]的归一化处理公式为
式中
      x——输入数据实际值
      xmax、xmin——输入数据的最大、最小值
      y——输出值
      ymax、ymin——归一化的最大、最小值
1.4　机器学习算法
1.4.1　随机森林
随机森林（Random forest，RF）通过在训练集中有放回的随机采样，获取每棵决策树的训练集，在训练每棵决策树时随机选择特征的子集作为输入来决定最佳分裂特征，最后集成所有决策树的预测结果并取平均值得到最终结果[27]。
1.4.2　支持向量回归
支持向量回归（Support vector regression，SVR）是一种基于支持向量机（Support vector machine，SVM）的回归方法。该算法的目标是找到一个能够以最大间隔包含大多数数据点的回归超平面，令该超平面到最远点的距离尽可能小，同时允许少量数据点在该范围外。
1.4.3　径向基神经网络
径向基神经网络（Radial basis function neural network，RBFNN）算法本质上是将输入数据映射到高维空间，使得原本在低维空间线性不可分的数据在高维空间变得线性可分。在该模型构建过程中，关键在于选择合适的中心点和方差参数来获取最优神经网络。
1.4.4　人工神经网络
人工神经网络（Artificial neural network，ANN）由大量神经元（节点）及其节点间的连接构成，核心成分神经元的激活特性如图3所示，阈值和连接权重是其关键参数，直接影响模型的性能和输出结果。通过调整隐藏层节点数量、激活函数、训练算法以及设定初始阈值和权重等参数，可以更为灵活地构建网络拓扑结构，实现神经网络的精准预测。
1.5　评价指标
采用决定系数（Coefficient of determination，R2）、均方根误差（Root mean squared error，RMSE）、平均绝对百分比误差（Mean absolute percentage error，MAPE）作为评价指标，用于模型评价。其中，R2表征实际值与预测值的拟合程度，数值越接近1，模型的预测能力越佳[28]；RMSE与MAPE用于评估预测值与实际值之间的误差，数值越低误差越小。
2　结果与讨论
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2.1　统计学描述
共选取3 966组数据用于模型训练和测试。表4展示了该数据集中各个变量的统计学指标，包括最大值、最小值、平均值、标准差、峰值、偏度及变异系数。对于整个数据集，犁耕速度变化区间为1.48~2.74 m/s，耕深变化区间为9.10~45.55 cm，犁耕阻力区间为6 816.41~36 015.63 N，前进加速度区间为-0.24~0.49 m/s2，车身俯仰角区间为-1.97°~8.36°，车身侧倾角范围是2.60~13.84°，滑转率范围是1%~29%。具体分布如图4所示，箱型图下端代表第25百分位，上端代表第75百分位，箱型图内横线及数字代表变量均值。
2.2　相关性分析
斯皮尔曼相关性分析结果如图5相关性热图所示。结果表明，犁耕速度、俯仰角、侧倾角、犁耕阻力、耕深均与滑转率呈正相关，相关系数依次为0.60、0.33、0.046、0.67、0.23。加速度与滑转率呈负相关，相关系数为-0.093。上述6个变量均在P=0.01下与滑转率相关，且各变量之间无过高的相关性系数。因此，以上述变量作为模型的输入变量检测滑转率无过拟合风险。
在相关性分析结果中，车身侧倾角与加速度同滑转率之间的相关系数呈现较低水平。然而，斯皮尔曼相关性系数仅能有效揭示变量之间的单调关系，对于诸如U形等更为复杂的关系无法充分捕捉，因此不能仅凭此系数直接排除2种变量对滑转率可能存在的潜在影响。
拖拉机在松软土壤作业时，在行驶方向上受驱动轮牵引力、犁耕阻力以及滚动阻力的作用。当犁耕阻力增加驱动轮牵引力也随之增加，直至超出地面所能提供的最大附着力时驱动轮将发生滑转，牵引阻力与滑转率呈正相关[29-30]。牵引阻力Rx通过高略契金有理公式计算，即
式中
      f——综合摩擦因数
      G——犁具重量，N
      k0——静态阻力系数
      a——单犁体耕深，cm
      b——单犁体耕宽，cm
      ε——动态阻力系数
      V——犁耕速度，m/s
犁耕速度的增加会加剧犁体对土壤产生切割、推移的作用力，产生额外的惯性力增加犁耕阻力，导致动态阻力项的增加。在相同的土壤比阻下耕深越深则犁耕阻力越大[31]，导致静态阻力项的增加。根据式（3）可知，以上2个变量均会引起犁耕阻力的变化，直接或间接影响驱动轮滑转率，并与滑转率呈正相关关系。
拖拉机犁耕时，不同车身侧倾角和俯仰角等运动状态的变化会导致车身重心转移，引起驱动轮垂直载荷和滚动阻力变化，进而影响驱动轮滑转状态。其中，车身侧倾角与犁沟深度相关，犁沟深度越深拖拉机车身侧倾角越大，车身俯仰角与拖拉机牵引阻力相关，负荷越大翘头趋势越明显、车身俯仰角越大。俯仰角和侧倾角的增加会导致后轮载荷增大、滑转加剧，与滑转率呈正相关关系。此外，本数据集不涉及拖拉机启动以及停车，在相对较为平稳运行速度状态中，当拖拉机滑转率增加时，实际运行速度必然随之降低，出现负加速度，反之出现正加速度，与滑转率呈负相关关系。
综合相关性分析结果及上述对拖拉机车身状态的详细分析，本研究最终确定以犁耕速度、前进加速度、俯仰角、侧倾角、犁耕阻力及耕深作为模型的输入变量，构建机器学习模型用于滑转率检测。为保证后续模型构建及评价的公平性，数据集划分后固定训练集和测试集用于不同模型的训练和测试。
2.3　模型结果分析
本研究使用Matlab 2022a平台进行模型的构建和训练。针对各个模型特点，采用网格搜索对RF、SVR以及RBF模型进行参数寻优；对于ANN，通过试错法确定隐藏层神经元数目、传递函数以及训练算法，在此基础上应用PSO算法对其初始阈值权重进行寻优。
2.3.1　随机森林模型
RF模型决策树的个数为120，叶子节点为1，每个叶子节点最小样本数为5。训练集的R2为0.984，RMSE为0.045 26%，MAPE为4.0%。测试集的R2为0.888，RMSE为3.7%，MAPE为11.3%。如图6所示，RF模型在训练集上相对对角线高度拟合，R2高达0.984，但测试集数据点相对对角线较为分散，模型在训练集上的表现远优于测试集。同时，模型在低滑转率和高滑转率区域的残差较大，存在高估低滑转率和低估高滑转率的现象。需要指出的是，RF模型可能存在过拟合风险，这会导致该模型在新数据下表现差，影响后期模型的预测效果。
2.3.2　支持向量回归模型
SVR模型采用高斯函数作为支持向量机的核函数，通过网格寻优确定c、g参数，最佳值分别为4和1.414 2，损失函数的p值设置为0.01。训练集中R2为0.941，RMSE为0.7%，MAPE为6.3%。测试集中R2为0.918，RMSE为2.6%，MAPE为8.9%。如图7所示，SVR模型大部分预测值分布在对角线附近，部分数据残差几乎为零，在测试集与训练集上均有良好表现（R2>0.9）。与RF模型相比，SVR模型在测试集上实际值与预测值的吻合度较高，能较好地实现拖拉机驱动轮滑转率检测，但在滑转率小于5%和大于25%区域的数据残差较大，效果略差。
2.3.3　径向基神经网络模型
使用newrbe指令快速搭建零误差的RBFNN模型，该模型具有单层隐藏层网络结构，隐藏层神经元个数等于输入样本的数量。其中，网络隐藏层激活函数为Gaussian函数，输出层函数为Purelin线性函数，通过网格寻优确定径向基扩展速度为7。训练集的R2为0.929，RMSE为0.000 471 2%，MAPE为7.5%。测试集的R2为0.903，RMSE为3.0%，MAPE为8.8%。由图8可知，径向基神经网络在训练集和测试集R2均大于0.9，相对对角线拟合效果良好。但是在测试集中，整个范围内均存在个别残差较大的点，尤其在滑转率大于20%的区域存在实际与预测值差异较大的现象，对模型精度造成一定影响，模型效果介于RF与SVR之间。
2.3.4　人工神经网络模型
在ANN网络架构设计过程中，为防止模型过于复杂，设计ANN网络结构时优先考虑1层隐含层网络，在此基础上通过增加隐含层神经元数量来降低识别误差。隐藏层节点选择参考经验公式为
其中
      Li——隐藏层数
      m——输入层神经元个数
      n——输出层神经元个数
      a0——0~10的整数
根据模型需求特点和函数具体含义，最终分别选用对称S形（Symmetric sigmoid）、对数S形（Logarithmic sigmoid）、软最大（Softmax）3种函数作为激活函数，分别对应Matlab中Logsig、Tansig、Softmax 3种函数。结合模型体量和训练算法特点，分别选用列文伯格-马夸尔特法（Levenberg-Marquardt）、拟牛顿法（Quasi-Newton）、贝叶斯正则化（Bayesian regularization）进行模型训练。
粒子群算法参数主要包括种群规模、学习因子、速度限制、边界限制、迭代次数等。结合前人经验与预试验，粒子群优化算法参数最终配置如表5所示。
将神经网络训练集的均方误差作为寻优算法的适应度函数，计算方式为
式中
      M——训练集样本数
      Pi_train——训练集中的标定滑转率
      Oi_train——网络输出的预测滑转率
由公式（5）可知，适应度函数的值越小模型的精度越高，即在适应度函数值最小处寻出神经网络的最优权重阈值。基于PSO权重阈值寻优的ANN模型构建流程如图9所示。
通过粒子群寻优的不同激活函数和训练算法在最佳隐藏层神经元数目下的模型训练结果如表6所示。根据表中模型隐藏层节点数、R2、RMSE以及MAPE评价指标数据可知，在3种训练算法下以Softmax作为激活函数相较于以Tansig和Logsig作为激活函数，达到最佳预测效果需要更多的隐藏节点数，增加了模型的复杂度且模型表现略差，后两者作为激活函数时各个算法下模型的表现较为相近。相较于Tansig，以Logsig作为激活函数时在3种算法中均使用最少的隐藏层神经元个数达到最佳预测效果。由于相同的模型预测精度下，隐藏层节点数越少模型训练时间与计算资源需求越少，因此选择以Logsig作为隐藏层激活函数。对训练结果进一步分析可知，以Logsig作为激活函数时，3种训练算法下的ANN模型精度接近，但是综合考虑3种训练算法的原理以及训练过程，Bayesian regularization算法对权重引入了先验分布，在训练过程中不仅计算损失函数的梯度，同时计算了加入了贝叶斯正则化项后的梯度，在权重更新时考虑正则化的影响，可以更好地控制权重的大小和分布，平衡模型的拟合能力和泛化能力，且训练到第117轮即可完成模型训练。
综上所述，考虑模型精度、模型复杂程度以及训练时间，最终选择隐藏层神经元个数为11，隐藏层激活函数为Logsig，训练算法为Bayesian regularisation的ANN模型用于滑转率的检测。PSO寻优下模型的最佳阈值权重矩阵为
式中
      IW——输入层到神经元的权重
      LW——神经元到输出层的权重
      b1——隐藏层阈值
      b2——输出层阈值
ANN模型表现如图10所示，训练集的R2为0.939，RMSE为1.0%，MAPE为7.0%，在测试集中R2为0.936，RMSE为1.0%，MAPE为7.6%。与其他3种模型相比，ANN模型在训练集和测试集上的表现最为相似，由拟合优度图可知，测试集上的预测值分布相对对角线最为紧凑，模型表现优于其他3种模型。同时，相较于SVR与RBF模型，该模型在滑转率小于5%以及滑转率大于20%区域均展现出了良好的检测效果。
2.4　模型比较
分别使用R2、RMSE以及MAPE 3种指标评价模型性能，比较了4种机器学习模型在滑转率检测方面的表现。根据图11所示的评价结果可知，RF模型在训练集上表现最佳，但在测试集中表现最差。由于训练集数据直接参与了模型的训练，因此模型在训练集上的表现无法代表模型的真实精度，模型的精度及其针对新数据的预测能力，即泛化能力，主要由测试集的表现确定，是评估模型实际应用价值的关键依据。同时需要注意的是，RF模型在训练集上表现优异，但在新数据上泛化能力较差，这一现象表明模型不仅学习了训练集数据的潜在模式和特征，还可能过度拟合了噪声数据和异常值，导致模型结构复杂，对训练集局部细节敏感，从而无法有效识别测试集中的新数据，存在过拟合风险；SVR与RBF模型在测试集的表现略优于RF模型，但在滑转率小于5%以及滑转率大于20%区域，2种模型的检测精度较差；ANN模型在训练集和测试集中表现相近，且相较其他3种模型，在测试集上的表现最佳，具有最高的R2以及最低的RMSE与MAPE。综上所述，使用ANN模型可以更好地学习输入变量与滑转率的复杂非线性关系，实现滑转率的精准检测。
3　结论
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（1）搭建了多传感器的数据采集平台，并开展田间试验采集犁耕作业状态参数构建数据集。对数据集中各个变量数据进行统计学分析，描述变量分布，使用斯皮尔曼相关性分析，确定变量与滑转率以及各个变量之间的相关性，明确机器学习模型输入变量的合理性，并规避输入变量高度相关带来的过拟合风险。
（2）分别构建了RF、SVR、RBFNN、ANN 4种机器学习模型进行滑转率检测，选择R2、RMSE以及MAPE作为评价指标，进行模型的评估和比较。结果表明，除RF存在过拟合风险外，在测试集中SVR模型的R2为0.918，RMSE为2.6%，MAPE为8.9%，RBFNN模型的R2为0.903，RMSE为3.0%，MAPE为8.8%，ANN模型的R2为0.937，RMSE为1.0%，MAPE为7.6%，上述3种模型均能较好地实现滑转率的检测。
（3）在ANN模型构建过程中，为解决阈值权重随机初始化带来的模型效果波动，使用粒子群算法进行了初始化权重阈值寻优，获得了更加稳定的滑转率预测结果。结合模型评价指标以及训练表现，在PSO阈值权重寻优下，优选出具有1个隐藏层，11个隐藏层神经元，以Logsig作为隐藏层激活函数，Bayesian regularization作为训练算法的ANN模型，作为最佳模型用于滑转率的检测，为滑转率精准实时检测提供了一种新方案。
基金
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  • 国家自然科学基金青年项目(32201677)
  • 陕西省重点研发计划项目(2023-ZDLNY-62)
文献
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2025年第56卷第12期
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doi: 10.6041/j.issn.1000-1298.2025.12.017
  • 接收时间：2025-03-06
  • 首发时间：2026-09-30
  • 出版时间：2025-12-25
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  • 收稿日期：2025-03-06
  • 修回日期：2025-04-07
基金
国家自然科学基金青年项目(32201677)
陕西省重点研发计划项目(2023-ZDLNY-62)
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    西北农林科技大学机械与电子工程学院，陕西杨凌　712100

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陈军（1970—），男，教授，博士，主要从事智能农业装备研究，E-mail：
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2种不同金属材料的力学参数
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Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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