Design and experimental study of tillage depth control system for electric rotary tiller based on LADRC.

This paper proposes an adaptive real-time tillage depth control system for electric rotary tillers, based on Linear Active Disturbance Rejection Control (LADRC), to improve tillage depth accuracy in tea garden intercropping with soybeans. The tillage depth control system comprises a body posture sensor, a control unit, and a hybrid stepper motor, integrating sensor data to drive the motor and achieve precise depth control. Real-time displacement sensor signals are compared with target values, enabling closed-loop control of the rotary tiller.