铰接摆杆式重型拖拉机线控转向系统仿真与试验  

Simulation and Experiment of Steering by Wire System of Large Wheel Tractor with Hinge Swing Link

作　　者：张广庆[1,2] 朱思洪[1] 李伟华 陈晓强 陈强 

机构地区：[1]南京农业大学工学院,南京210031 [2]徐轮集团徐州凯尔机械有限公司,徐州221000

出　　处：《农业机械学报》2014年第2期28-33,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：江苏省科技成果转化专项资金资助项目(BA2010055)

摘　　要：建立了拖拉机空间多体动力学机械系统与线控转向液压系统联合仿真模型,用Matlab编写了相应的模糊PID控制仿真程序,进行了拖拉机线控转向系统原地转向仿真。在平直水泥路面上进行了铰接摆杆式重型拖拉机线控原地转向试验与行驶试验。试验研究表明,所开发的线控转向系统能用于行驶速度小于13 km/h的作业工况。According to the structural characteristics of heavy articulated wheel tractor, a steer-by-wire system of the tractor was set up, consisted of electrical control system, angular displacement sensors, mechanical system and hydraulic steering system. The equivalent mathematical model of hydraulic steering system of the tractor was set up with nonlinear state space method by 12 parameters. Controlled by fuzzy self-tuning PID system, the articulated tractor simulation programs consisted of muhi-body dynamics system and hydraulic system were developed, with help of Matlab software. The in-situ steering simulations of the tractor with the steering by wire system were carried out. Experiments on rigid road were carried out, and the results showed that the steering by wire system was suitable to the tractor operation condition when the speed was less than 13 km/h.

关 键 词：铰接重型拖拉机线控转向系统 原地转向 仿真试验 

分 类 号：S219.032.3[农业科学—农业机械化工程] TP393.1[农业科学—农业工程]