Design and Testing of a 2-DOF Adaptive Profiling Header for Forage Harvesters

Abstract

The existing forage harvester header cannot automatically adjust the height and inclination during operation, resulting in uneven stubble height of forage, which, in turn, affects the efficiency of harvesting and the quality of forage regeneration. To address this issue, this study conducted the design and experimentation of a 2-degrees-of-freedom (DOF) profiling header. Firstly, this study designed an adaptive profiling header with 2-DOF adjustment, which was realized by the height adjustment mechanism and the tilt angle adjustment mechanism. The relationship model between the profiling device and the attitude of the header was established so that the header can acquire ground undulation in real time through the angle sensor of the profiling device. In order to verify the rationality of the header design, a co-simulation model of ADAMS and MATLAB/Simulink was built, and the header attitude control system was designed based on the fuzzy PID algorithm. The co-simulation results show that the header height (H) is always kept around 150 mm during the forwarding process of the harvester, with a maximum error of 5.8 mm, and the average relative error (REH) and root mean square error (RMSEH) were 1.4% and 2.6 mm, respectively, and the maximum error of the tilt angle (γ) of the header is 0.53° and the RMSEγ is 0.22°, which indicates that the header profiling mechanism can accurately reflect the undulation of the terrain and the header attitude control system has good robustness. Finally, the test platform was built and tested in a grassland. The test results show that the average height of the header is 149.8 mm, the maximum error is 7.5 mm, and the REH and RMSEH are 3.4% and 5.3 mm, respectively. The average error of the header inclination is 0.34°, and the maximum error is 0.57°. The test results indicate that the header can realize the adaptive adjustment of height and inclination, and the control system has high precision, stability and reliability, meeting the demand of automatic regulation of header attitude of a forage harvester.

Keywords

• forage harvester
• header attitude control
• profiling device
• 2-degrees-of-freedom adjustment
• stubble height
• fuzzy PID