Abstract: In the research of tractor electric and hydraulic depth control system, the joint control method and control strategy of forceposition synthesis and slip rate are proposed. The slip rate monitoring control is added to the forceposition comprehensive control to adjust the depth of tillage within the allowable range of the optimal slip rate range. The hydraulic physical model of the electronically controlled hydraulic hitch system is built through AMESim software, and the simulation model is established through joint simulation with Matlab/Simulink software. The slip rate fuzzy controller and the force level integrated fuzzy PID controller are designed. The multi parameter control effect based on the slip rate logic threshold is studied through experiments. The test results show that the system has a good response effect when the slip rate logic threshold is exceeded, it has a better following effect on the change of slip rate, which provides a theoretical basis for the multi parameter control of the tractor tillage depth control system.

Key words:  , tillage depth control, slip rate, forceposition comprehensive, joint simulation

摘要： 在拖拉机电控液压耕深控制系统的研究中提出力位综合—滑转率的联合控制方法及控制策略，加入滑转率监测控制，在最优滑转率区间允许范围内调节耕深。搭建电控液压悬挂的液压物理模型，并建立仿真模型，设计滑转率模糊控制器、力位综合模糊PID控制器，试验研究基于滑转率逻辑门限的多参数控制效果。试验结果表明在超出滑转率逻辑门限值时系统有较好的响应效果，对滑转率的变化有较优的跟随效果，为拖拉机耕深控制系统多参数控制提供理论基础。

关键词: 耕深控制, 滑转率, 力位综合, 联合仿真