丘陵山区农用预检测主动调平底盘设计与试验  

Design and Experiment of Pre-detection Active Leveling Agricultural Chassis for Hilly Area

作　　者：刘平义[1] 柯呈鹏 柯婷 李海涛[1] 魏文军[1] 赵晨 LIU Pingyi;KE Chengpeng;KE Ting;LI Haitao;WEI Wenjun;ZHAO Chen(College of Engineering, China Agricultural University, Beijing 100083, China)

机构地区：[1]中国农业大学工学院,北京100083

出　　处：《农业机械学报》2020年第3期371-378,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51405494)。

摘　　要：针对目前丘陵山区农用底盘倾斜后调平精度低、滞后的问题,提出一种预检测主动调平方法,该方法提前检测行驶前方地面情况,判断如何实施调平动作,并在底盘倾斜同时进行主动调整,可主动预防、避免或减少在崎岖不平地面上行驶作业过程中的底盘倾斜。设计了一种采用Y型可调悬架作为调平机构的农用车辆预检测主动调平底盘,分析计算了底盘悬架调整与预检测调平参数、承载能力与调平速度及调平执行策略,分析计算表明,可通过Y型可调悬架的高度调节实现底盘调平。利用样机在室外试验田中进行崎岖不平地面的行走试验验证,试验结果表明,在预检测主动调平行走过程中,丘陵山地农用预检测主动调平底盘可在精度0.5°范围内实现动态调平,验证了预检测主动调平方法以及丘陵山地农用预检测主动调平底盘设计方案的可行性。Aiming at the problem of low precision and hysteresis for the agricultural chassis in the hilly area,a pre-detection active leveling method was proposed to detect the ground situation ahead of the road and determine how to implement the leveling action and actively adjust the body while tilting.It can actively prevent,reduce or avoid the body tilt during driving on rough terrain.An agricultural vehicle pre-detection active leveling chassis with Y-shaped adjustable suspension as the leveling mechanism was designed.The chassis suspension adjustment and pre-detection leveling parameters,load capacity and leveling speed and leveling execution strategy were analyzed and calculated.The analytical calculations showed that the chassis can be leveled by the height adjustment of each Y-shaped adjustable suspension.The prototype was developed and tested on the rugged ground in the outdoor test field.The test results showed that the active pre-detection leveling chassis of the hilly mountain was controlled well that the accuracy of both roll angle and pitch angle just was within 0.5°,verifying the pre-detection active leveling method and the feasibility of the active leveling chassis for agricultural pre-detecting in hilly mountains,and providing theoretical basis and experimental reference for the promotion and application of agricultural chassis in hilly mountainous areas,which had high practical value in the future.

关 键 词：丘陵山区 预检测主动调平 Y型可调悬架 底盘 

分 类 号：S232.3[农业科学—农业机械化工程]