大型开沟铺管机自动控制系统的研制  

Development of automatic control system on large-sized trencher and pipe-layer

作　　者：王丽丽[1] 胡小安[1] 伟利国[1] 刘刚[2] 张小超[1] 

机构地区：[1]中国农业机械化科学研究院,北京100083 [2]中国农业大学现代精细农业系统集成研究教育部重点实验室,北京100083

出　　处：《机电工程》2012年第12期1448-1452,1460,共6页Journal of Mechanical & Electrical Engineering

基　　金：国家科技支撑计划资助项目(2009BAC55B01)

摘　　要：为了解决1KPZ-250型开沟铺管机自动控制系统中的关键问题,在分析其工作原理和基本结构的基础上,将液压驱动技术、电液调控技术、传感器技术、GPS技术、人机环境工程模块化技术等应用到机器中,提出了车体姿态、自动行走和开沟深度的自动控制方法,并总体设计了开沟铺管机的车体自动调平控制系统、自动导航控制系统和激光高程控制系统。研究结果表明,该系统的动态品质较好,当车体倾斜时能自动将其调节到水平位置;机器能够按照预定的路径实现自动导航,偏航误差控制在±10 cm以内;开沟铺管的高程误差可控制在±20 mm以内,能够满足控制系统的要求。In order to solve the key problems of 1KPZ-250 trencher and pipe-layer,hydraulic drive technology,electro-hydraulic control technology, sensor technology, GPS technology, human-machine environment engineering modularization technology were applied to the machine on the basis of analyzing its working principle and basic structure. Thus automatic control method in automatic level, automatic walking and ditching depth was put forward, besides, the automatic leveling control system, automatic navigation control system and laser height automatic control system were overall designed. The results indicate that, the dynamic quality of the system is good, it can automatically be adjusted to the horizontal position when the body is tilted; the machine can realize automatic navigation according to a predetermined path,and the yaw error can be controlled within 10 cm;ditching pipe laying elevation error can be controlled within 20 mm, it can meet the requirement of control system.

关 键 词：开沟铺管机 自动调平 自动导航 高程控制 

分 类 号：S222[农业科学—农业机械化工程] TH39[农业科学—农业工程]