温室作业用柔性底盘试验样机的设计  

Design of experimental prototype of flexible chassis used in greenhouse

作　　者：李翊宁 周伟[1] 宋树杰[2] 瞿济伟 周福阳[1] 郭康权[1,3] 

机构地区：[1]西北农林科技大学机械与电子工程学院,杨凌712100 [2]西北农林科技大学食品科学与工程学院,杨凌712100 [3]陕西省农业装备工程技术研究中心,杨凌712100

出　　处：《农业工程学报》2017年第19期41-50,共10页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金项目(51375401)

摘　　要：结合设施农业实际作业要求,研制了基于四轮独立驱动与四轮独立转向原理的柔性底盘试验样机。试验样机轮距1 320 mm,轴距1 200 mm,最小离地间隙235 mm,整机质量750 kg。底盘设计额定牵引力2 400 N,额定功率8 k W,最高设计时速28 km/h,犁耕作业速度5 km/h,连续犁耕作业时间大于1 h。设计并搭建了采用CAN总线通信的模块化分层控制系统,其中单轮行走系控制子系统采用自适应模糊PID控制算法来协调控制。相对于理论样机,柔性底盘试验样机在整机动力、机械结构和控制系统等方面做出了多项改进。进行了单轮行走系转向响应试验和底盘基本运行姿态试验,得到各轮行走系平均转向角度为89.84°~90.11°,平均转向响应时间为4.24~4.28 s;在各基本运行姿态下,底盘质心加速度跳动值均小于0.007 g。表明柔性底盘试验样机能够在硬化路面上有效稳定运行。A novel general power-output chassis system for agricultural vehicles been used in facility agriculture was proposed in this study, and named as Flexible Chassis. An initial prototype had been developed previously for basic theoretical research of four-wheel independent drive and four-wheel independent steering which was based on a simplified model. To study the kinematic and dynamic characteristics of the Flexible Chassis under practical operating conditions, the second prototype named as the experimental prototype has been developed. The mechanical structure of the flexible chassis consisted of the chassis frame, power battery pack, and single-wheel running system. The four single-wheel running systems were symmetrically distributed on both sides of the chassis frame, which was the only source of driving force for maintaining and transforming the driving attitude of the flexible chassis. The power battery pack included four maintenance-free lead-acid batteries, and was placed in the chassis frame with a cross distribution. This allocation was helpful to reduce the whole machine size and prevented interference with the four single-wheel running systems. The single-wheel running system was the core part of the Flexible Chassis. It was made up of offset-axle knuckle mechanic, wheel hub motor, and electromagnetic locking device. Through the interaction between the four single-wheel running systems, the chassis frame, and the ground, the Flexible Chassis can achieve lengthways, horizontal, and slant linear movement, two-wheel or four-wheel steering movement, and revolving movement. The rated traction of the flexible chassis was 2 400 N, and the rated traction power was 8 kW. Therefore, it can work for more than one hour when equipped with a single furrow reversible plough. The technical parameters of the flexible chassis were that the total weight was 750 kg; and the length, width and height were 1 715, 1 475, and 1 135 mm, respectively. The tread was 1 320 mm, the wheel base was 1 200 mm, and the minimum ground cl

关 键 词：农业机械 设计 控制 柔性底盘 设施农业 四轮独立驱动 四轮独立转向 偏置转向轴 

分 类 号：S229.1[农业科学—农业机械化工程] U467.524[农业科学—农业工程]