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In a push-type electric tiller, the vehicle vibrates when the ground shoves the tilling claw during tilling motion. A torque is generated from the ground during tilling, and it is called reaction torque. Vehicle vibration degrades the operability of the vehicle and creates irregularity in the soil. Therefore, a tilling claw should maintain a constant speed, and should compensate for the reaction torque from tilling. The reaction torque from tilling has a periodicity. Therefore, repetitive control is suitable for the speed control of the tilling claw. In practical situations, the periodicity of the reaction torque from tilling changes when the speed of the tilling claw changes. Furthermore, there are variations in the condition of the soil surface. Repetitive control does not compensate for the variation in the periodicity and condition of the soil. This study proposes a method that combines two other methods. The first method compensates for the variation in the periodicity of the reaction torque from tilling. The second method estimates and compensates for the variation in the soil surface. The effectiveness of the proposed method is confirmed based on the experimental results.

Speed Control Method for Tilling Claw of Electric Tiller Considering Actual Periodic Reaction Torque