Research on Torque Dynamic Coordinated Control of a Novel Dual Power Source Threshing Drum of Combine Harvester

In response to the issues faced by conventional combine harvesters' threshing drums, such as the difficulty in maintaining stable speed due to load fluctuations and torque disturbances, as well as the limited speed adjustment range to adapt to changes in crop varieties and properties, this study proposes a novel dual power source threshing drum (DPSTD). By incorporating a power coupling device and a motor into the existing mechanical structure, the DPSTD utilizes the flexible speed and torque output capabilities of the motor to achieve a wide speed adjustment range and enhance its resistance to interference. A robust model predictive control strategy is designed based on finite time disturbance observer (FTDO) to compensate for torque under load fluctuations. Simulation results demonstrate that the DPSTD can achieve rapid and accurate speed regulation. Moreover, under torque disturbances and load mutations, the DPSTD with the torque compensation control strategy, can reduce the speed error by 73.90%. This significantly improves the speed tracking performance of the threshing drum, exhibiting good anti-interference capabilities. Finally, the superiority of the DPSTD is validated through bench tests, confirming its effectiveness and feasibility and providing new insights for control research on threshing drums.