PSO-PID-Based Optimization and HIL Verification Method for the Rear-Mounted Linkage Adjustment of Hilly-Mountainous Tractors

PSO-PID-Based Optimization and HIL Verification Method for the Rear-Mounted Linkage Adjustment of Hilly-Mountainous Tractors | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article PSO-PID-Based Optimization and HIL Verification Method for the Rear-Mounted Linkage Adjustment of Hilly-Mountainous Tractors Yiwei Wu, Chengkang Yao, Mengnan Liu, Jingyun Zhang, Lin Wang, and 2 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6380790/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 13 You are reading this latest preprint version Abstract For the rear-mounted linkage adjustment system using traditional PID control, it is difficult to determine the optimal PID parameters, which leads to the problems of excessive overshoot, slow adjustment speed, insufficient precision and poor tracking performance in implements attitude adjustment. In this paper, a rear-mounted linkage device with independent control of dual hydraulic cylinders is designed, and an optimization method for rear suspension adjustment based on Particle Swarm Optimization (PSO) algorithm to optimize the PID parameters is proposed. A simulation model of the rear-mounted linkage adjustment system was constructed, and MATLAB/Simulink simulation comparison tests and Hardware-in-the-Loop validation tests were conducted. The results show that compared to traditional PID control, the PSO-PID controller reduces the response time by 28.52% in tracking the target tilt angle, decreases the overshoot by 43.87%, and significantly improves the dynamic characteristics of the system. This verifies the effectiveness of the optimization method proposed in this paper, which is of great significance and value for improving the operational efficiency of hilly and mountainous tractors, reducing energy consumption, and protecting soil ecology. Hilly-Mountainous Tractors Rear-Mounted Linkage Optimization Method Particle Swarm Optimization PID Hardware-in-the-Loop Verification Method Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Editorial decision: Revision requested 29 Apr, 2025 Reviews received at journal 28 Apr, 2025 Reviews received at journal 26 Apr, 2025 Reviewers agreed at journal 25 Apr, 2025 Reviewers agreed at journal 25 Apr, 2025 Reviews received at journal 25 Apr, 2025 Reviewers agreed at journal 24 Apr, 2025 Reviewers agreed at journal 24 Apr, 2025 Reviewers agreed at journal 24 Apr, 2025 Reviewers invited by journal 24 Apr, 2025 Editor assigned by journal 23 Apr, 2025 Submission checks completed at journal 23 Apr, 2025 First submitted to journal 05 Apr, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6380790","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":448335400,"identity":"09c96ca3-78ea-4d49-b60b-64ac591b39a4","order_by":0,"name":"Yiwei Wu","email":"","orcid":"","institution":"Henan University of Science and Technology","correspondingAuthor":false,"prefix":"","firstName":"Yiwei","middleName":"","lastName":"Wu","suffix":""},{"id":448335401,"identity":"b88d9a22-6d00-4d63-9415-29a1fb1e98a0","order_by":1,"name":"Chengkang Yao","email":"","orcid":"","institution":"Henan University of Science and 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In this paper, a rear-mounted linkage device with independent control of dual hydraulic cylinders is designed, and an optimization method for rear suspension adjustment based on Particle Swarm Optimization (PSO) algorithm to optimize the PID parameters is proposed. A simulation model of the rear-mounted linkage adjustment system was constructed, and MATLAB/Simulink simulation comparison tests and Hardware-in-the-Loop validation tests were conducted. The results show that compared to traditional PID control, the PSO-PID controller reduces the response time by 28.52% in tracking the target tilt angle, decreases the overshoot by 43.87%, and significantly improves the dynamic characteristics of the system. This verifies the effectiveness of the optimization method proposed in this paper, which is of great significance and value for improving the operational efficiency of hilly and mountainous tractors, reducing energy consumption, and protecting soil ecology.\u003c/p\u003e","manuscriptTitle":"PSO-PID-Based Optimization and HIL Verification Method for the Rear-Mounted Linkage Adjustment of Hilly-Mountainous Tractors","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2025-04-28 03:26:17","doi":"10.21203/rs.3.rs-6380790/v1","editorialEvents":[{"type":"communityComments","content":0},{"type":"decision","content":"Revision requested","date":"2025-04-29T18:15:56+00:00","index":"","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-04-29T01:48:44+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-04-26T09:46:16+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"224336197885641800059058930397884844704","date":"2025-04-25T17:32:51+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"114343992659855138688461063642727932700","date":"2025-04-25T08:46:52+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-04-25T07:47:31+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"334617434765886152626753897514544145078","date":"2025-04-25T00:36:48+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"125475950004608760442327984416541098867","date":"2025-04-24T16:00:15+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"193250732632624868621399364125311386368","date":"2025-04-24T15:45:26+00:00","index":"hide","fulltext":""},{"type":"reviewersInvited","content":"","date":"2025-04-24T15:40:54+00:00","index":"","fulltext":""},{"type":"editorAssigned","content":"","date":"2025-04-23T12:07:30+00:00","index":"","fulltext":""},{"type":"checksComplete","content":"","date":"2025-04-23T12:04:06+00:00","index":"","fulltext":""},{"type":"submitted","content":"Discover Applied Sciences","date":"2025-04-05T08:10:16+00:00","index":"","fulltext":""}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"discover-applied-sciences","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"","sideBox":"Learn more about [Discover Applied Sciences](https://link.springer.com/journal/42452)","snPcode":"42452","submissionUrl":"https://submission.springernature.com/new-submission/42452/3","title":"Discover Applied Sciences","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Discover Series","inReviewEnabled":true,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"a3ccf44d-0342-41c2-8831-2e711d251c89","owner":[],"postedDate":"April 28th, 2025","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"under-review","subjectAreas":[],"tags":[],"updatedAt":"2025-07-23T06:53:17+00:00","versionOfRecord":[],"versionCreatedAt":"2025-04-28 03:26:17","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-6380790","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-6380790","identity":"rs-6380790","version":["v1"]},"buildId":"8U1c8b4HqxoKbykW_rLl7","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}