4WD型农药喷雾机液压四驱底盘直行同步控制方法比较及验证  

Comparison of straight line driving synchronous control methods and validation of 4WD sprayer chassis with hydraulic power

作　　者：张华[1,2] 郑加强[1] Zhang Hua Zheng Jiaqiang(College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China Department of Mechanical Engineering, Anhui Science and Technology University, Fengyang 233100, China)

机构地区：[1]南京林业大学机械电子工程学院,南京210037 [2]安徽科技学院机械工程学院,凤阳233100

出　　处：《农业工程学报》2016年第23期43-50,共8页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金面上项目(31371963);江苏省农机三新工程项目(NJ2014-11);江苏省科技支撑计划-农业高技术专项(BE2012383);安徽省科技攻关计划项目(1501031095)

摘　　要：为了满足复杂农林环境下植保喷雾作业需求,提出了一种全液压驱动的柔性智能化喷雾机底盘,同时为了满足底盘直线行驶需求,提高4个车轮马达转速同步控制系统的精度、可靠性和经济性,提出了2种同步控制方案,分别是电磁比例换向阀单级直控式和同步阀＋电磁比例换向阀双级同步控制式。制定了同步控制策略,并分别运用SIMULINK和AMESim对同步控制系统的动态特性进行了仿真。分析了阶跃输入下,同步控制系统在启动、偏载转矩干扰、意外掉电及上电恢复阶段的系统响应,并比较了2种控制方案的马达最大转速同步误差。仿真及试验结果表明：采用双级同步控制方案比单级直控方案在马达工作的各个研究阶段,其最大转速同步误差均降低约50%,同步精度可控制在1.0%-2.0%之间,能满足底盘直线行驶需求。该研究可为四轮独立驱动底盘的直行控制提供理论指导,并可为农业工程领域所需的高精度、高可靠性和经济性的液压同步控制系统设计提供参考。To meet the plant protection and spraying requirements in complex agricultural and forestry environments, a flexible and intelligent sprayer chassis with hydraulic power system was developed in this study. Two synchronous control plans of four hydraulic motors were proposed for straight line driving requirements of sprayer chassis. The first plan was a single stage direct control with solenoid proportional directional valve and the second plan was a two stage synchronization control with synchronous valve and solenoid proportional directional valve bypass regulation. The principle diagrams of two plans were designed. The inner and outer double layer control structure was designed for the first plan. The PID controller was used to track the reference signal in the outer layer and fuzzy coordinated controller in the inner layer was used to adjust the rotary speed synchronous error of four motors. The fuzzy control rules were designed and the SIMULINK model of the first plan was established. The synchronous control effect of the first plan was simulated through MATLAB/SIMULINK. In the second plan, the synchronous divider/collector valve was used for the primary synchronous control of four motors and the solenoid proportional directional valve was used for bypass flow regulation in order to reduce the synchronous error caused by unbalanced load. The simulation model of the second plan was established with AMESim. The synchronous control system responses of two plans under step input（the step value was 230） were simulated and compared under the conditions of boot stage, unbalanced load torque disturbance, accidental power off and power recovery. The maximum motor speed synchronous errors of the first plan were about 8.5 r/min within 0-0.1 s, 0 r/min within 0.1-0.5 s,4 r/min within 0.5-1.0 s and 0.2 r/min within 1.1-1.5 s, respectively. The synchronous control accuracy of the first plan can be kept under 3.7%. The motor speed fell obviously at the time of 0.5 s because of the accidental power off of the valve and s

关 键 词：农业机械 马达 喷雾机底盘 转速控制 同步控制策略 同步阀 电磁比例换向阀 同步误差 

分 类 号：S491[农业科学—植物保护]