Robust optimal design of multi-objective control model of working speed for combine harvester

In this paper, the working speed control strategy of combine harvester was studied. Taking harvest loss, harvest efficiency and energy cost as multiply control targets, the multiple targets working speed control model was built based on robust optimization theory. Considering the analysis of the constraint conditions, expected space of control targets and the consideration of sensitivity of control target to the parameter variation, annealing algorithm was proposed to calculate the weighting factor of the control targets and applied to the control parameter of harvest speed. Field testing showed the multiple targets control model can make the grain loss in the range from 0.42%-0.43% and threshing power consumption can be controlled from 15.12 to 17.32 kW when the deviation rate of straw-grain ratio and grain density were 40% and 29.9%. It showed that with this control model rational control of harvest speed can be achieved even under the harsh working condition, and verified the robustness and validity of the control model.