大型喷杆运动模拟器设计与田间工况复现试验  

Design of large boom dynamic simulator and field condition reappearance experiment

作　　者：崔龙飞 薛新宇 丁素明 乐飞翔 顾伟 CUI Longfei;XUE Xinyu;DING Suming;LE Feixiang;GU Wei(Nanjing Institute for Agricultural Mechanization,Ministry of Agriculture and Rural Affairs,Nanjing,Jiangsu 210014,China)

机构地区：[1]农业农村部南京农业机械化研究所

出　　处：《江苏大学学报（自然科学版）》2020年第1期51-59,共9页Journal of Jiangsu University：Natural Science Edition

基　　金：国家自然科学基金资助项目(51605236);国家重点研发计划项目(2017YFD0700905)

摘　　要：针对喷雾机田间作业工况开展了喷杆运动模拟平台Stewart并联机构的设计,确定了平台的性能指标(最大负载、幅值、频率)和机构运动学参数(铰关节位置、驱动腿行程、工作空间等),通过MATLAB和ADAMS建模与运动仿真,验证机构设计参数的合理性,并设计了6个伺服电动缸的分布式控制系统及上位机软件,搭建了六自由度喷杆运动模拟平台.通过正弦轨迹跟踪试验和扫频测试数据可知,模拟平台可以实现10.0 Hz以下时域波形的复现,并准确获取了28 m喷杆摆式悬架的频响特性.同时,使用基于双GPS辅助惯性姿态测量系统,采集喷雾机在农田作业时运动姿态数据,通过五点三次平滑预处理和低通滤波处理,在六自由度运动模拟器上进行了10.0 Hz以下田间运动时域全波形复现,动平台滚转角均方根误差为0.2970°,垂向位移均方根误差为15.7 mm.The design of boom dynamic simulation platform of stewart parallel mechanism was carried out according to the actual working conditions of sprayer.The test platform performance criteria of the maximum load,amplitude and frequency and the kinematic parameters of actuator placement,position coordinates of joints and working space were determined.The parallel mechanism was modeled and kinematically simulated by MATLAB and ADAMS softwares to verify the design parameters.The distributed control system and the upper computer software with six servo electric cylinders were designed,and the dynamic simulation platform of boom with six degrees of freedom was built.According to the sinusoidal trajectory tracking experiment and the swept frequency experiment results,the complete reappearance of platform was realized for the time domain waveform within 10.0 Hz.The frequency response characteristics of 28 m boom pendulum suspension were also accurately measured.The dual GPS aided inertial attitude measurement system was used to collect the motion data of sprayer in farmland operation.The data were preprocessed and filtered in low-pass by cubical smoothing algorithm with five-point.The time domain waveform of field vehicle motion was reproduced within 10.0 Hz on the six degrees of freedom motion simulator.The results show that the root mean square error(RMSE)of rolling angle is 0.2970 degrees,and the RMSE of vertical displacement is 15.7 mm.

关 键 词：喷杆喷雾机 运动模拟器 喷杆 悬架 机构运动学 

分 类 号：S49[农业科学—植物保护]