Slip-draft embedded control system by adaptively adjusting the battery position for electric tractors

The range-extended sprayer can effectively balance the requirements of economy and power performance, which represents the development and transformation trend of intelligent plant protection machinery in the future. To more intuitively and reliably explore the energy variation rules of the range-extended sprayer under different energy management strategies (EMSs) and achieve optimal fuel economy, a co-simulation platform for energy management of the range-extended sprayer under multi-condition cyclic operation was established based on AVL-CRUISE and MATLAB Simulink. Meanwhile, a fuzzy control-based EMS optimized by the particle swarm optimization (PSO) algorithm was proposed. Simulation results show that the comprehensive fuel consumption of the PSO-optimized fuzzy control EMS is 3.68 kg; compared with the conventional fuzzy control strategy, its fuel economy is improved by 4.90%, and by 8.23% compared with the multi-point power following strategy. Subsequently, an energy management test platform for the range-extended sprayer was built, and experimental verification was carried out. The platform test results indicate that the electricity difference between the platform test and the simulation test is 0.38%, and the fuel consumption difference is 1.6%, both within a reasonable range. This further verifies the reliability of the simulation platform for the improved energy management model and the feasibility of the proposed EMSs. The research content and results provide theoretical basis and technical support for the optimization of EMSs and the joint simulation method of energy management for range-extended sprayers.