基于DSP的拖拉机电液转向控制系统  

Electrohydraulic Steering Control System of Tractor Based on DSP

作　　者：何卿[1] 高焕文[1] 李洪文[1] 毛宁[1] 王树东[1] 

机构地区：[1]中国农业大学工学院

出　　处：《农业机械学报》2007年第5期1-5,10,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：农业部引进国际先进农业科学技术计划资助项目(项目编号:2004-Q1)

摘　　要：针对拖拉机的全液压转向系设计了基于TMS320F2812DSP的电液转向控制系统,硬件部分包括DSP芯片及PWM电控器等接口电路,软件部分设计了带非线性补偿的PID控制算法,选用比例电磁换向阀、角位移传感器构建了试验平台,进行了算法参数确定试验和导向信号跟踪转向试验。结果表明控制系统的转向角误差小于7%,平均滞后时间为0.15s,能为自动导向提供理论基础。An electrohydraulic （E/H） steering control system was designed for tractors with hydraulic steering system. The hardware of system included a TMS320F2812 DSP （digital signal processor） and its interface circuits such as PWM （pulse width modulation） controller and others. The control algorithm adopted was PID （proportional-integral：differential） control with nonlinear compensation method. A TD654L type of tractor was taken as research platform mounted with proportional directional valve and angle sensor. Tests had been taken to identify the parameters of algorithms and implement automatic steering following guidance signal. The results of track test with guidance signal from guidance generator showed that the steering offset was less than 7% and the average of lag time was 0.15 s. It provided a research base for automatic guidance.

关 键 词：拖拉机 转向控制系统 设计 试验 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U463.4[自动化与计算机技术—控制科学与工程]