## 1 Introduction  
China's mountainous areas account for about 33% of the country's total land area, the hills account for about 10%, while the plains account for only 12%, and the arable land in mountainous and hilly areas accounts for a large proportion of China's arable land area [1,2]. Guizhou is a typical karst landscape province in China, 92.5% of the area is mountainous and hilly, but the Guizhou chili industry advantages are outstanding. It is estimated that, by 2022, the chili planting area will be stable at 5.3 million mu, chili production up to 6.3 million tons, an output value of 19 billion yuan, the production and sales scale as the first in the country [3]. However, the mechanical rate of major crops in Guizhou is 46%, and realizing the mechanization of pepper harvesting in Guizhou can reduce the amount of farmers' labor and increase income. Nowadays, most of the pepper harvesting machines are designed for use in the plains, but also can be oriented to the terrain in not complex mountainous areas, something Guizhou's complex terrain environment is not able to realize. It is crucial to realize automated harvesting of pepper machinery in mountainous areas of Guizhou. The mountain hills harvesting work state and working environment are different, unlike the plain terrain, which is flat and suitable for large mechanical movement. For example, the OXBO Axbo pepper harvester produced by Tenfold in the United States and the two-row traction pepper harvester developed by Pik Rite Company, etc. Although the power output is stable, the harvesting efficiency is high, and the light fruit contains a low miscellaneous rate, the harvester is not easy to turn, and is only applicable to long strips in a large field monopoly planting mode [4,5]. Compared to foreign countries, although the technical level of domestic agricultural machinery lags behind more, there has been rapid developments, one after another, to achieve the mechanization of the whole process of rice, corn, and other crop production, but the research on the hydraulic technology of pepper combine harvesting machinery is relatively late, until the last few years on the market there have emerged, one after another, fully hydraulic types of pepper harvester. Hebei Rei Ken Agricultural Machinery Co., Ltd. (Anlu, China) produced and listed the 4 JZ-3600 pepper harvester based on 4 AZ-2200 in 2018, the maximum power of this model is 62 kw, the net harvesting rate is up to more than 90%, the rate of impurity is less than 10%, the total loss rate is no more than 6%, and the operating hour is up to 0.6 hectares. Xinjiang Mu Zhen in 2021 introduced the new Mu Zhen 4 JZ-3600B with an unloading height of up to 4.1 m, reducing the number of stops to unload and the unloading time, improving the transport efficiency of the field and the productivity of the machine [6,7]. The mountain pepper harvester will work with constant climbing and downhill operations and variable working conditions, which requires the working circuit of the pepper harvester to work continuously and steadily under complex working conditions, i.e., without the influence of the traveling circuit, so large domestic and foreign pepper harvesters are not suitable for mountainous and hilly terrain. Load-sensitive technology has been applied to mountain pepper harvesting in order to cope with the complex working environment of mountain pepper harvesters and to reduce the energy consumption of harvesters. Load-sensitive systems were first used in construction machines with internal combustion engines, such as excavators and non-excavating drills. In the 1980s, energy conservation became the focus of researchers, and [PERSON] et al. addressed the problems of temperature rise and poor control performance of conventional coal drilling rigs by making load-sensitive hydraulic systems available for coal drilling rigs to improve performance [8]. [PERSON] et al.