基于附着系数实时监测的软土地面类型自动识别的研究  

A Study on Automatic Identification of Soft Terra Types Based on Real Time Monitoring of Adhesion Coefficients

作　　者：李智 鲁杨[2] 吴树岸 鲁植雄[2] 储佳佳 LI Zhi;LU Yang;WU Shu-an;LU Zhi-xiong;CHU Jia-jia(College of Transportation,Huanggang Normal College,Huanggang,Hubei 438000,China;College of Engineering,Nanjing Agricultural University,Nanjing 210031,China)

机构地区：[1]黄冈师范学院交通学院,湖北黄冈438000 [2]南京农业大学工学院,江苏南京210031

出　　处：《江西农业大学学报》2018年第5期1110-1116,共7页Acta Agriculturae Universitatis Jiangxiensis

基　　金：国家自然科学基金项目(51175269)~~

摘　　要：为了智能控制拖拉机作业深度,必须自动识别拖拉机作业时的软土类型。基于驱动轮附着系数-滑转率关系,对拖拉机作业行驶过程中驱动轮的附着系数及其对应的滑转率进行估算分析,将估算结果与已知的各种软土地面附着系数-滑转率关系进行对比并判断其相似度,相似度较大者即为所识别的软土地面。通过仿真和样机田间试验,结果表明,拖拉机在空载、负载2种工况下起步并逐渐进入稳定作业状态时,能准确实现软土地面的自动识别,且样机田间试验与仿真试验的吻合度达到84%,为拖拉机作业深度自动控制提供了重要的理论依据和方法。It is necessary to automatically recognize the type of soft terra during tractor operation for intelligent control of the operation depth of the tractor.In the working process of a tractor on different soft terrae,the adhesion coefficients in corresponding slip rates of the driving wheel were estimated.The estimation results were compared with the known relationships of coefficients and slip ratios under different soft terrae,then their similarity was judged.That of the larger similarily was the identified soft terra.Simulation test and prototype field test were carried out under different soft terrae.The simulation results show that under different working conditions of the tractor,the identification method can accurately identify different types of soft terrae.The results of prototype field test shows that when the tractor is started and gradually enters a stable operation state under the two working conditions of no-load and load,the identification method can realize the automatic recognition of the soft terra.The agreement between field test and simulation test is 84%.The automatic recognition method of soft ground based on the estimation of coefficient of adhesion provides an important theoretical basis and method for intelligent control of tractor operation depth.

关 键 词：软土地面 自动识别 附着系数 滑转率 

分 类 号：U461.51[机械工程—车辆工程]