基于电液悬挂系统的拖拉机主动减振控制  

Active vibration control of tractor based on electro-hydraulic hitch system

作　　者：承鉴 迟瑞娟[1] 赖青青 杨悦静 毛恩荣[1] 

机构地区：[1]中国农业大学工学院,北京100083

出　　处：《农业工程学报》2017年第5期82-90,共9页Transactions of the Chinese Society of Agricultural Engineering

基　　金：高等学校博士学科点专项科研基金资助项目(20130008110042);"十二五"国家科技支撑计划资助项目(2011BAD20B02)

摘　　要：大功率拖拉机的减振问题对于确保拖拉机的行驶安全性及舒适性起着决定性作用。该文基于电液悬挂系统对拖拉机进行了主动减振控制系统的设计,设计了带位置校正环节的离散滑模控制方法。该方法仅利用电液悬挂系统已有的牵引力传感器及位置传感器采集振动信息,而不需增加其他振动传感器。之后该文对系统进行了仿真和试验验证,结果表明:与不加控制前相比,主动减振控制使拖拉机的振动强度及前轮胎动载荷均显著降低,在受到水泥路障冲击后的整个过程中,农具振动加速度的均方根值降低了51.2%,后轮轴心的垂直加速度均方根值降低了20.1%;拖拉机质心的垂直加速度均方根值降低了16.6%;前轮胎的平均动载荷降低了39%;农具的存在引起的10~15 Hz的振动被完全抑制,农具的存在所加强的约5 Hz的俯仰振动也几乎消失;位置校正环节使液压缸活塞的运动轨迹保持在期望位置范围内。实车试验中,振动加速度测量信号的均方根值降低了25.7%;驾驶室内测点的垂直加速度的均方根值降低了26.4%。证明了所设计的主动减振控制器的有效性和可行性。The existence of road surface excitation and the hanging farm equipment produce severe harmful vibration on tractors with the electro-hydraulic hitch system during transportation.At present,there are many researches on vehicle vibration and riding comfort.On the contrary,research on tractor vibration is relatively rare.In fact,reducing vibrations of the large-power tractor plays a decisive role in ensuring its driving safety and comfort.In this paper,the active vibration controller design of tractors was carried out based on the electro-hydraulic hitch system.The research was conducted based on a Foton Lovol TG-1254 tractor with a Dongfanghong 1LH-535 five-furrow plough hitched to its back.Considering that the five-furrow plough is removable and that it is not convenient to install an acceleration transducer on the implement for measuring its motion,hence only the traction force sensor and the position sensor in the electro-hydraulic hitch system were used while other vibration sensors were not included.First of all,a whole mathematical model on the vibration characteristics of the electro-hydraulic hitch system was established and the related rules were obtained.The statistics from the traction force sensor and the position sensor were set as feedback to acquire the data about the tractor vibrations and the implement position.Then a discrete sliding mode control algorithm with position correction was designed and verified.Combined with this effective control algorithm,not only the movements of the proportional valve in the electro-hydraulic hitch system and the lifting of the suspension mechanism were controlled,but also the vibrations of the tractor actively during the transportation were significantly suppressed.Both the simulation tests and the verification experiments were carried out in this research.The basic settings of the experiments were listed as follows：the height of the road excitation was about 0.09 m,the width of strip cement barriers was around 0.18 m,a K60 development board was used as the cor

关 键 词：拖拉机 振动 悬挂 主动减振 电液悬挂系统 滑模控制 位置校正 

分 类 号：U27[机械工程—车辆工程] S219[交通运输工程—载运工具运用工程]