Technical Briefs

Fundamental Limits in Combine Harvester Header Height Control

[+] Author and Article Information
Yangmin Xie

e-mail: xie3@illinois.edu

Andrew G. Alleyne

e-mail: alleyne@illinois.edu
Mechanical Science and Engineering Department,
University of Illinois at Urbana-Champaign,
Urbana, IL 61801

Ashley Greer

e-mail: GreerAshleyE@johndeere.com

Dustin Deneault

e-mail: deneaultdustind@johndeere.com
John Deere Company,
Champaign, IL 61820-7484

Values are given inside parentheses.

Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received May 10, 2011; final manuscript received July 20, 2012; published online March 28, 2013. Assoc. Editor: Nariman Sepehri.

J. Dyn. Sys., Meas., Control 135(3), 034503 (Mar 28, 2013) (8 pages) Paper No: DS-11-1148; doi: 10.1115/1.4023209 History: Received May 10, 2011; Revised July 20, 2012

This paper investigates fundamental performance limitations in the control of a combine harvester's header height control system. There are two primary subsystem characteristics that influence the achievable bandwidth by affecting the open loop transfer function. The first subsystem is the mechanical configuration of the combine and header while the second subsystem is the electrohydraulic actuation for the header. The mechanical combine + header subsystem results in an input–output representation that is underactuated and has a noncollocated sensor/actuator pair. The electrohydraulic subsystem introduces a significant time delay. In combination, they each reinforce the effect of the other thereby exacerbating the overall system limitation of the closed loop bandwidth. Experimental results are provided to validate the model and existence of the closed loop bandwidth limitations that stem from specific system design configurations.

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Fig. 2

Schematic of feedback header height control

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Fig. 3

Force analysis for combine body

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Fig. 4

Force analysis for header

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Fig. 5

Open loop poles and zeros of linearized combine mechanical system

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Fig. 6

Closed loop sensitivity plot of linearized combine mechanical system

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Fig. 7

Closed loop sensitivity plot of linearized combine system with actuator delay

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Fig. 10

Closed loop step response of the test system

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Fig. 11

Experimental combine used for field test results

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Fig. 12

Closed loop frequency response comparisons between experimental results and simulation

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Fig. 8

Hydraulic system test bed

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Fig. 9

Open loop step response of hydraulic system for input current



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