双钟摆主被动悬架式大型喷雾机喷杆动力学仿真与试验  

Modeling and Simulation of Dynamic Behavior of Large Spray Boom with Active and Passive Pendulum Suspension

作　　者：崔龙飞[1,2] 薛新宇[1] 丁素明[1] 顾伟[1] 陈晨[1] 乐飞翔 

机构地区：[1]农业部南京农业机械化研究所,南京210014 [2]江苏大学现代农业装备与技术教育部重点实验室,镇江212013

出　　处：《农业机械学报》2017年第2期82-90,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51605236);国家重点研发计划项目(2016YFD0200700);江苏省农业科技自主创新资金项目(CX(16)1043)

摘　　要：大型喷杆式喷雾机在田间作业时,喷杆运动严重影响了喷雾分布,悬架系统是控制喷杆动力学行为的关键装置,既要隔离来自车体的高频扰动,又要使喷杆跟踪低频的地面坡度变化,时刻保持与地面(或作物冠层)平行。为了研究双钟摆主、被动悬架机构的动力学特性,综合考虑车体运动耦合作用、地形坡度变化、摩擦等因素,使用第二类拉格朗日动力学方法建立描述喷杆动力学行为的数学模型。首先进行被动悬架动态特性研究,分析阻尼、摩擦、摆钟长度等因素对响应特性的影响;然后建立基于液压比例控制的主动悬架Matlab/Simulink仿真模型,揭示控制系统增益系数、时间常数、悬架结构参数等对喷杆响应特性、跟踪误差的影响规律。利用Stewart六自由度运动模拟平台及动态测试系统,对28 m大型喷杆悬架系统进行瞬态响应测试和频响测试,频响试验值与数学模型预测值均方根误差为0.087,表明模型可用于预测喷杆动态响应特性,指导悬架参数科学配置。When sprayer works in the field, boom movement seriously affected the spray distribution, suspension system is the key device to control the dynamic behavior of boom. The response of a boom suspension should be such that it isolates the boom from high frequency roll of vehicle as it travels over bumpy ground, while transmitting low frequency roll so that the boom can follow undulating and sloping ground. In order to solve the dynamics and control problems of double pendulum active and passive suspension mechanism, considering the coupling effect of vehicle body motion, change of terrain slope, friction of moving pair, etc. , a higher order differential equation group was established to describe the dynamic behavior of boom by using the second kinds of Lagrange dynamics equation. Based on this, the dynamic characteristics of the passive suspension were studied, and the effects of these factors, such as damping, friction and pendulum length on the response characteristics were analyzed. A Matlab/Simulink simulation model of active suspension based on hydraulic proportional control was established, and then the influence of gain coefficient, time constant and suspension structure parameters on the boom response and tracking error was revealed. By using Stewart six degree of freedom motion simulation platform and dynamic testing system, step response test and frequency response test were conducted on a spray boom with pendulum suspension, the root mean square error between frequency response test value and the mathematical model predictive value was 0. 087. It was demonstrated that the model could be used in the design of a suspension to give a specified response to the rolling motion of the spray vehicle, and the results showed that the model can be used to predict the dynamic response characteristics of the boom, and guide the design of large boom suspension.

关 键 词：喷杆式喷雾机 悬架 动力学分析 仿真 试验 

分 类 号：S49[农业科学—植物保护]