高地隙履带车转向性能试验  

Steering performance test of high clearance tracked vehicle

作　　者：王宝山[1] 王淼森[1] 王万章[1,2] 种东风 陈蒋 WANG Baoshan WANG Miaosen WANG Wanzhang CHONG Dongfeng CHEN Jiang(College of Mechanical and Electrical Engineering, Henan Agricultural University, Zhengzhou 450002, China Collaborative Innovation Center of Henan Grain Crops, Zhengzhou 450002, China)

机构地区：[1]河南农业大学机电工程学院,河南郑州450002 [2]河南粮食作物协同创新中心,河南郑州450002

出　　处：《河南农业大学学报》2017年第3期335-340,共6页Journal of Henan Agricultural University

基　　金：河南省现代农业产业技术体系玉米全程机械化岗位专项(S10-02-G07/2016);河南省烟草公司科技专项(HYKJ1206/2016)

摘　　要：针对农作物生长后期田间机械化管理作业需求,设计了一种小型全液压驱动的高地隙履带车。履带车采用两侧马达正反转的方式进行原地转向,为验证设计方案的合理性,使用AMEsim软件和集思宝G970高精度GNSS设备对履带车原地转向性能进行仿真分析和试验。仿真结果表明:在水泥路和砖砌路稳定转向时,两侧马达转速分别为-76 r·min^(-1)和81 r·min^(-1),转速差约为总转速的3.3%,基本可以实现等速正反转。试验结果表明:使用实时差分卫星定位信号可以精确测定履带转向轨迹,在水泥路和砖砌路履带车转向半径均值分别为0.054 m和0.126 m,转向轨迹半径变异系数分别为40.969%和64.899%;圆心距离标准差分别为0.093 m和0.017 m。仿真和履带车试验表明,采用两侧行走马达正反转实现履带车原地转向的方案可行,履带车转向半径较小。A small high clearance tracked vehicle with remote control and full hydraulic drive was designed. It was designed to complete the agricultural mechanization management in the later growth stage of crops. Pivot steering of the vehicle used the way of positive inversion of two hydraulic motors. In order to verify whether the pivot steering design scheme was reasonable,AMEsim software and Unistrong＇s G970 Multi-frequency GNSS system were used to do the simulation analysis and prototype test. The simulation results showed that the left motor speed was about-76 r·min^-1and the right motor speed was about 81 r·min^-1on both the cement road and brick road. Speed difference was about 3. 3% of the total speed,which could basically achieve the equal speed positive inversion. The prototype experiment showed that the pivot steering trajectories of the vehicle could be accurately determined by using the realtime differential satellite positioning signal. The radii of the pivot steering trajectories were 0. 054 m and0. 126 m respectively in cement road and brick road. The coefficients of variation of radii were 40. 969%and 64. 899% respectively. The standard deviations of center distance were 0. 093 m and 0. 017 m respectively. The simulation and prototype test showed that it was feasible to use the way of positive inversion of two hydraulic motors to achieve pivot steering,and the steering radius was small.

关 键 词：履带车 转向 差分定位 AMESIM 

分 类 号：S224.4[农业科学—农业机械化工程]