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Platform Stability for a High Clearance Citrus Harvester: Part 1. Modeling and Validation of the load-leveling system.

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  2016 ASABE Annual International Meeting  162458061.(doi:10.13031/aim.20162458061)
Authors:   Yongmin Chung, Thomas Francis Burks
Keywords:   agricultural machine, vehicle mathematical model, vehicle behavior, validation

Abstract. The objective of this paper is to develop an appropriate full vehicle mathematical leveling system model for evaluating a high clearance citrus harvester‘s vehicle behavior and stability. A 7-degree of freedom (DOF) vehicle model is used to represent the vehicle. The mathematical equations of vehicle dynamics are derived from the 7-DOF model and a Matlab/Simulink model is constructed to analyze vehicle behavior. The lab-scale prototype will have all the hydraulic system components which will be present in the actual full scale harvester which we are currently building. The result from the simulation will be compared to the result from the lab-scale platform experiments for validation. The simulations show that full vehicle modeling for the leveling system and hydraulic actuator modeling was proper and will be validated later with experimental results. After that, these results will form the basis for the actual control system that will be implemented on the citrus harvester.

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