智能化农业装备学报（中英文）

基于滑移率与姿态反馈的丘陵山地联合收割机自适应抗滑控制策略

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赵立军 ¹ , 代凡程 ¹ , 雷良钥 ¹ , 胡繁森 ¹ , 沈成 ²^,³ , 张雪峰 ¹^,^*^,^*

智能化农业装备学报（中英文） | 2026,7(1): 19-30

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智能化农业装备学报（中英文） | 2026 , 7 (1) : 19 -30

基于滑移率与姿态反馈的丘陵山地联合收割机自适应抗滑控制策略

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赵立军¹, 代凡程¹, 雷良钥¹, 胡繁森¹, 沈成²^,³, 张雪峰¹^,^*^,^*

作者信息

^1.重庆文理学院，重庆市，402160

^2.农业农村部南京农业机械化研究所，江苏南京，210014

^3.农业农村部现代农业装备重点实验室，江苏南京，210014

通讯作者:

^* 张雪峰，男，1994年生，重庆巴南人，博士，讲师；研究方向为山地智能农业装备及机器人。E-mail：1534868347@qq.com

作者简介:

赵立军，男，1980年生，黑龙江克山人，博士，教授；研究方向为山地智能农业装备及机器人。E-mail：20190005@cqwu.edu.cn

Adaptive anti-slip control strategy for combine harvesters in hilly and mountainous terrain based on slip ratio and attitude feedback

Lijun ZHAO¹, Fancheng DAI¹, Liangyao LEI¹, Fansen HU¹, Cheng SHEN²^,³, Xuefeng ZHANG¹

Affiliations

^1.Chongqing University of Arts and Sciences, Chongqing 402160, China

^2.Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China

^3.Key Laboratory of Modern Agricultural Equipment, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China

Corresponding Author:

^* ZHANG Xuefeng, E-mail: 1534868347@qq.com

ZHAO Lijun, E-mail: 20190005@cqwu.edu.cn

出版时间: 2026-02-15 doi: 10.12398/j.issn.2096-7217.2026.01.003

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摘要

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针对丘陵山地联合收割机在起伏坡地、横坡叠加工况及湿软土壤条件下易出现履带高滑移、速度波动、姿态失稳甚至侧翻风险，导致路径跟踪精度下降与能耗增加的问题，本研究提出一种基于滑移率与姿态反馈的自适应抗滑控制策略。该策略以车体滑移率与侧倾角为核心状态量，融合定位与惯性测量实现关键状态的在线获取，并构建“正常—滑移风险—姿态风险—耦合高风险”的分级风险判别机制，引入阈值与滞回退出规则，避免临界工况下控制频繁切换。与传统仅关注横向误差的固定参数控制不同，本研究创新性地将纵向牵引调节与横向稳定干预纳入统一闭环：当滑移风险触发时，自适应下调发动机目标转速抑制过度滑转；当姿态风险触发时，在降速的同时对预瞄目标点进行坡上方向偏置，引导车辆产生更有利的稳定趋势；在滑移与姿态耦合的高风险状态下，通过安全监督器进行优先级裁决，实现“姿态安全优先、牵引次之、跟踪最后”的协同控制，从而在复杂地形与负载波动条件下兼顾安全性、跟踪精度与经济性。田间对比试验基于履带式联合收割机平台在约15°~25°坡地、土壤含水率约25%~30%的工况下开展，结果表明：所提方法将平均路径跟踪误差由0.117 1 m降至0.020 8 m、最大误差由0.445 1 m降至0.090 5 m；平均滑移率约6.12%、最大滑移率约18.00%；综合节油约4.94%。总体而言，本研究将滑移率与姿态风险统一建模并驱动控制策略切换，提出预瞄点坡上偏置与安全监督优先级机制，实现面向丘陵山地联合收割机的可落地自适应抗滑与稳态作业控制方案。

关键词

联合收割机 / 自适应控制 / 丘陵山地 / 滑移率 / 姿态反馈 / 路径跟踪

Abstract

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To address the problems of track slippage, speed fluctuations, attitude instability, and even rollover risks that can occur in combine harvesters operating on undulating slopes, overlapping cross slopes, and soft, wet soil conditions, leading to decreased path tracking accuracy and increased energy consumption, this study proposes an adaptive anti-slip control strategy based on slip-ratio and attitude feedback. The strategy treats the vehicle slip ratio and roll (lateral tilt) angle as the key state variables, integrates positioning data with inertial measurements to obtain these critical states online, and establishes a hierarchical risk-identification mechanism with four levels: “normal-slip risk-attitude risk-coupled high risk”. Thresholds and hysteresis-based exit rules are incorporated to prevent frequent controller switching near critical operating boundaries. Unlike conventional fixed-parameter schemes that focus only on lateral tracking error, this study innovatively integrates longitudinal traction regulation and lateral stability intervention within a unified closed loop. When slip risk is triggered, the controller adaptively reduces the engine target speed to suppress excessive slip. When attitude risk is detected, it simultaneously reduces speed and applies an uphill-direction bias to the preview target point, guiding the vehicle toward a more favorable stabilizing trend. Under the coupled high-risk state where slip and attitude risks coexist, a safety supervisor arbitrates control priorities to realize coordinated control following the principle of “attitude safety first, traction second, tracking last”, thereby balancing safety, tracking accuracy, and fuel economy under complex terrain and load fluctuations. Field comparative experiments were conducted on a tracked combine harvester platform on slopes of approximately 15° -25° with soil moisture content of about 25%-30%. The results show that the proposed method reduces the average path-tracking error from 0.117 1 m to 0.020 8 m and the maximum error from 0.445 1 m to 0.090 5 m, achieves an average slip ratio of approximately 6.12% with a maximum of about 18.00%, and yields an overall fuel-saving improvement of approximately 4.94%. In summary, this study unifies slip-ratio and attitude-risk modeling to drive control-mode switching, and introduces an uphill-biased preview point together with a safety-supervision priority mechanism, providing a practical adaptive anti-slip and stable-operation control solution for hillside and mountainous combine harvesters.

Key words

combine harvesters / adaptive control / hilly and mountainous terrain / slip ratio / attitude feedback / path tracking

引用本文

赵立军, 代凡程, 雷良钥, 胡繁森, 沈成, 张雪峰. 基于滑移率与姿态反馈的丘陵山地联合收割机自适应抗滑控制策略. 智能化农业装备学报（中英文）, 2026 , 7 (1) : 19 -30 . DOI: 10.12398/j.issn.2096-7217.2026.01.003

Lijun ZHAO, Fancheng DAI, Liangyao LEI, Fansen HU, Cheng SHEN, Xuefeng ZHANG. Adaptive anti-slip control strategy for combine harvesters in hilly and mountainous terrain based on slip ratio and attitude feedback[J]. Journal of Intelligent Agricultural Mechanization, 2026 , 7 (1) : 19 -30 . DOI: 10.12398/j.issn.2096-7217.2026.01.003

基金

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国家自然科学基金面上项目(52272438)
重庆市2024年农机装备研产推用一体化“揭榜挂帅”项目(cqjjxxwjbgs-njzb2024002)
重庆市科技局英才计划项目(20231102)
2025年重庆市研究生科研创新项目(CYS25872)

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2026年第7卷第1期

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文章信息

doi: 10.12398/j.issn.2096-7217.2026.01.003

接收时间：2025-11-12
首发时间：2026-11-03
出版时间：2026-02-15

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出版历史

收稿日期：2025-11-12
修回日期：2025-12-28

基金

National Natural Science Foundation of China(52272438)

国家自然科学基金面上项目(52272438)

Chongqing 2024 Integrated' Leaderboard and Leadership' Project for the Research, Production, Promotion, and Application of Agricultural Machinery Equipment(cqjjxxwjbgs-njzb2024002)

重庆市2024年农机装备研产推用一体化“揭榜挂帅”项目(cqjjxxwjbgs-njzb2024002)

Chongqing Science and Technology Bureau Talent Program Project(20231102)

重庆市科技局英才计划项目(20231102)

2025 Graduate Research and Innovation Project of Chongqing City(CYS25872)

2025年重庆市研究生科研创新项目(CYS25872)

作者信息

^1.重庆文理学院，重庆市，402160

^2.农业农村部南京农业机械化研究所，江苏南京，210014

^3.农业农村部现代农业装备重点实验室，江苏南京，210014

通讯作者:

^* 张雪峰，男，1994年生，重庆巴南人，博士，讲师；研究方向为山地智能农业装备及机器人。E-mail：1534868347@qq.com

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2种不同金属材料的力学参数

科 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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