丘陵山地拖拉机电液悬挂仿形控制系统研究  

Electro-hydraulic Hitch Terrain-adaptive Control System for Hillside Tractors

作　　者：范永奎 翟志强 朱忠祥[1,2] 毛恩荣 王浩[1,2] 陈一明 FAN Yongkui;ZHAI Zhiqiang;ZHU Zhongxiang;MAO Enrong;WANG Hao;CHEN Yiming(College of Engineering,China Agricultural University,Beijing 100083,China;Key Laboratory of Soil Machine Plant System Technology,Beijing 100083,China)

机构地区：[1]中国农业大学工学院,北京100083 [2]农业农村部土壤机器植物系统技术重点实验室,北京100083

出　　处：《农业机械学报》2020年第S01期517-524,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2016YFD0700504)。

摘　　要：针对丘陵山地拖拉机作业地形复杂,传统电液悬挂控制系统地形适应性差的问题,设计了一套横向姿态可调的丘陵山地拖拉机电液悬挂仿形控制系统。根据丘陵山地拖拉机仿形控制作业需求,在传统悬挂结构基础上加装一个液压驱动旋转装置,设计了一种仿形悬挂机构,基于液压多点动力输出技术设计了带有负载反馈的闭心式液压控制系统,并提出了一种基于带死区的经典PID算法的控制方法。通过对阀控非对称液压缸工作原理的分析,建立了其数学模型并推导出仿形控制系统的传递函数,运用Matlab/Simulink建立了电液悬挂仿形控制系统的动力学模型并进行了仿真分析,仿真结果表明,系统在0°~11°阶跃信号的作用下,调整时间约为0.4 s,几乎无超调,系统稳定后农机具横向倾角约为11.1°,稳态误差约为0.1°,仿真结果验证了该控制算法的有效性。通过对传统拖拉机的液压悬挂装置进行改装,将原来的手柄操纵式液压悬挂装置改装成带有虚拟终端的电液悬挂控制系统,搭建了仿形控制试验台并进行了室内台架试验,试验结果表明,系统调整时间约为2.2 s,几乎无超调,系统稳定后农机具横向倾角约为11.2°,稳态误差约为0.2°,在系统允许误差(0.5°)范围内,试验结果验证了所设计的丘陵山地拖拉机电液悬挂仿形控制系统调节的快速性与稳定性,满足拖拉机等高线坡地作业需求。In view of the complex terrain and poor terrain adaptability of the traditional electro-hydraulic hitch control system,a set of terrain-adaptive control system for electro-hydraulic hitch of hillside tractors with adjustable lateral attitude was designed.According to the requirement of terrain-adaptive control operation of hillside tractors,a new type of terrain-adaptive hitch mechanism was designed by adding a hydraulic driving rotary device on the basis of traditional hitch structure.Based on hydraulic multi-point power output technology,a closed core hydraulic control system with load feedback was designed and a control method based on the classical PID algorithm with dead zone was proposed.Through the analysis of the working principle of the valve controlled asymmetric hydraulic cylinder,the mathematical model was established and the transfer function of the copy control system was derived.The dynamic model of the electro-hydraulic hitch terrain-adaptive control system was established by Matlab/Simulink and the simulation analysis was carried out.The simulation results showed that under the action of 0°~11°step signal,the adjustment time of the system was about 0.4 s,with almost no overshot.After the system stabilized,the lateral inclination of agricultural implements was about 11.1°,and the steady-state error was about 0.1°,which verified the effectiveness of the proposed control algorithm.The traditional tractor hydraulic hitch was modified by converting the original handle control hydraulic hitch into an electro-hydraulic hitch control system with a virtual terminal,and a copy control test bench was built and an indoor bench test was carried out.The test results showed that the adjustment time of the system was about 2.2 s,with almost no oversetting.After the system was stabilized,the lateral inclination angle of agricultural implements was about 11.2°,and the steady state error was about 0.2°,which was within the range of 0.5°,allowed by the system.The test results verified that the designed electr

关 键 词：丘陵山地拖拉机 电液悬挂 仿形控制系统 横向姿态调整 

分 类 号：S219.85[农业科学—农业机械化工程]