基于直流电机与全液压转向器直联的自动转向系统研究  

Design of Automatic Steering System Based on Direct Connection of DC Motor and Full Hydraulic Steering Gear

作　　者：杨洋[1,2] 张刚 查家翼 李延凯 张铁 陈黎卿[1,2] YANG Yang;ZHANG Gang;ZHA Jiayi;LI Yankai;ZHANG Tie;CHEN Liqing(School of Engineering,Anhui Agricultural University,Hefei 230036,China;Anhui Intelligent Agricultural Machinery Equipment Engineering Laboratory,Hefei 230036,China;Chinese Academy of Agricultural Mechanization Sciences,Beijing 100083,China)

机构地区：[1]安徽农业大学工学院,合肥230036 [2]安徽省智能农机装备工程实验室,合肥230036 [3]中国农业机械化科学研究院,北京100083

出　　处：《农业机械学报》2020年第8期44-54,61,共12页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2017YFD0700902);国家自然科学基金项目(51905004);安徽省自然科学基金项目(1808085QE168);安徽省高校协同创新项目(GXXT-2019-036)。

摘　　要：针对农机装备电控液压自动转向系统生产成本高及电动方向盘自动转向系统中控制力矩小、存在自由行程的问题,设计了基于直流电机与全液压转向器直联的自动转向机构及其电控系统,该系统主要包括自动转向执行机构、自动转向控制器和液压转向机构等。自动转向执行机构与原车液压转向机构连接实现自动转向功能,考虑了底盘阿克曼角的自动转向控制器实现车轮转向的精确控制,通过在转向驱动电机输出轴安装电磁离合器和转向柱扭矩传感器实现人工驾驶模式和自动驾驶模式的自动切换。试验结果表明,车轮转角响应平均稳态误差小于0.1°,最大稳态误差为0.158°,±20°阶跃信号最快响应时间达1.2 s,超调量小于1%,可以满足对各种轮式农机的自动导航辅助驾驶转向系统性能的要求。The automatic steering system of agricultural machinery equipment includes electric hydraulic automatic steering system and electric steering wheel automatic steering system.However,the electric hydraulic steering system has the disadvantages of high production cost and complex structure,and the electric steering wheel steering system has the problem of small control moment and free travel.In order to solve those problems,an automatic steering mechanism and its electronic control system were designed based on the direct connection between DC motor and full hydraulic steering gear.The automatic steering system mainly consisted of automatic steering actuator,automatic steering controller,hydraulic steering mechanism and wheel angle sensor.Automatic steering actuator and the original car hydraulic steering mechanism was coupled to achieve automatic steering function.In order to improve the accuracy of steering control of the wheels,an automatic steering controller was designed which considered Ackerman angle.An electromagnetic clutch and a steering column torque sensor were installed on the output shaft of the steering drive motor to realize automatic switching between manual driving and automatic driving.The automatic steering system designed was processed and applied to tractor,harvester and plant protection machine,which can meet the needs of use.The test results showed that the average deviation value of wheel response angle was less than 0.1°,the maximum deviation value was 0.158°,the response time of±20°step signal can reach 1.2 s and the overshoot was less than 1%.Moreover,the step response was non-oscillatory,which was faster,accurate and stable than the traditional steering control system.The automatic steering system designed not only met the performance index of automatic steering control,but also reduced the production cost,which provided support for the development of agricultural navigation technology.

关 键 词：自动转向 转向控制器 转向执行机构 直流电机 全液压转向器 

分 类 号：S237[农业科学—农业机械化工程]