Development of the dynamic and static joint leveling control system for vehicle-mounted platform in mountain tea plantations

Authors

  • Haijun Zhu School of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, Shaanxi, China
  • Hongling Jin School of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, Shaanxi, China
  • Shujie Wang School of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, Shaanxi, China
  • Mingyang Qin School of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, Shaanxi, China
  • Yu Chen School of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, Shaanxi, China
  • Shuo Zhang School of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, Shaanxi, China

Abstract

Tea is one of the three major beverages in the world, and China, as the world’s largest tea producer and consumer, faces challenges in addressing the poor stability and low efficiency of self-propelled tea canopy working machines when operating in mountainous tea plantations. The static leveling systems alone are insufficient to solve this issue. This paper presents a dynamic and static joint leveling control system based on Proportional-Integral-Derivative (PID), utilizing a self-developed vehicle-mounted omnidirectional leveling platform. The analysis of the platform’s leveling principle and the construction of its hardware control system are discussed, then a joint control method for dynamic and static leveling is formulated. Simulation tests are conducted to determine the control parameters of the leveling system, validating the effectiveness of the control system. A prototype machine is built to test both its leveling performance and field capabilities. Results demonstrate that on a 15.0° slope, the platform can reduce inclination to less than 5.0° within 1.0 s, with an inclination error controlled at 0.1°-0.4° within 1.8-2.3 s; during field tests, mean inclination values when entering and exiting tea plantations are measured at 3.2°±1.5° and 2.5°±1.4°, respectively. The results indicate that this developed dynamic and static joint leveling control system enables rapid platform stabilization while reducing tipping risks in mountainous tea plantations.      

Keywords: vehicle-mounted platform; staged PID algorithm; dynamic and static joint leveling; omnidirectional leveling; control system

DOI: 10.25165/j.ijabe.20261902.9649

 

Citation: Zhu H J, Jin H L, Wang S J, Qin M Y, Chen Y, Zhang S. Development of a dynamic and static joint leveling control system for vehicle-mounted platform in mountain tea plantations. Int J Agric & Biol Eng, 2026; 19(2): 128–138.

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Published

2026-05-21

How to Cite

(1)
Zhu, H.; Jin, H.; Wang, S.; Qin, M.; Chen, Y.; Zhang, S. Development of the Dynamic and Static Joint Leveling Control System for Vehicle-Mounted Platform in Mountain Tea Plantations. Int J Agric & Biol Eng 2026, 19, 128-138.

Issue

Vol. 19 No. 2 (2026): IJABE

Section

Power and Machinery Systems

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