PID-Based Design of Automatic Control System for a Travel Speed of the 4UM-120D Electric Leafy Vegetable Harvester

The study developed a PID-based automatic control system for travel speed based on the analysis of entire machine structure 4UM-120D electric leafy vegetable harvester to enhance operation quality and lessen workload operators. Taking adjustment time during process starting maintaining within ±2% set value as main evaluation index, Box–Behnken test method was applied single-factor test, proportional coefficient Kp, integral Ki initial U motor drive voltage PID algorithm were used factors, operating parameters studied in three-factor, three-level experiment, multiple regression model indexes each factor established analyze influence rapidity obtain optimal parameters. findings demonstrated that beginning driving U, integration Ki, proportionality Kp had largest smallest influences regulation time. When 1.81 V, 0.020, 0.127, 2.14 s, relative error 1.8% compared with optimized value. results could provide way improve harvesters reduce work intensity