拖拉机姿控飞轮防侧翻系统卸载能量回收试验研究  

Energy Harvesting Module Design for Flywheel-based Tractor Anti-rollover System

作　　者：秦嘉浩 宋战胜 刘海帆 何志祝 李臻 朱忠祥[1,2] QIN Jiahao;SONG Zhansheng;LIU Haifan;HE Zhizhu;LI Zhen;ZHU Zhongxiang(College of Engineering,China Agricultural University,Beijing 100083,China;Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment,China Agricultural University,Beijing 100083,China)

机构地区：[1]中国农业大学工学院,北京100083 [2]中国农业大学现代农业装备优化设计北京市重点试验室,北京100083

出　　处：《农业机械学报》2020年第S01期564-567,575,共5页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51805535)。

摘　　要：拖拉机侧翻事故是农业生产过程中最严峻的安全问题之一,现有主、被动安全手段均未能从根本上解决该问题。在前期利用飞轮—电机加速旋转时产生的反向力矩进行姿态调节实现失稳态拖拉机姿态回稳的基础上,为进一步避免姿控飞轮卸载过程造成能量浪费,本文基于1∶16比例模型试验平台设计搭建了飞轮卸载能量回收电路,并通过模型试验对其回收效果进行了验证。试验结果表明,当模型拖拉机以0.2 m/s速度行驶于路面不平度较高的G级、H级路面出现侧翻趋势并实现姿态回稳时,整机侧向姿态角降至10°后能量回收系统可介入工作,此时回收电压出现峰值0.97 V(H-B轨迹),随后其数值变化趋势与姿控飞轮转速的降低趋势相似,直至飞轮卸载完成后回收电压归零。试验过程中,飞轮—电机系统在对不同的整机侧翻趋势做出响应时,能量回收系统完成的电量回收不同,但均完成了对飞轮卸载能量的部分回收,提高了整机能源的利用效率。Tractor rollover is one of the most serious safety problems in the process of agricultural mechanization,which has not yet been essentially solved by current technical means.In previous study,an external flywheel-based stability control system was designed to realize attitude stabilization of an unstable tractor,basing on the principle that an accelerating flywheel can generate a reverse torque.To avoid energy waste during the unloading process of the decelerating flywheel after active attitude control,an energy harvesting circuit was proposed and tested on the 1∶16 scaled model test platform.The testing results showed that the energy harvesting system effectively worked when the roll angle of the tractor was reduced to 10°.Correspondingly,the peak value of the harvesting voltage rised to 0.97 V(H-B trajectory)when the model tractor traveled at 0.2 m/s on the G-class and H-class roads.Similarly,the voltage responded to decrease to zero as the flywheel decelerated after the active attitude control of the tractor was accomplished.In all the tests,the system proved the ability of harvesting electric energy,which improved the energy utilization efficiency of the tractor attitude control system.The approach and the results of this work may help theoretical fundamentals for optimization of the energy efficiency in a flywheel-based tractor active stability control system.

关 键 词：拖拉机 侧翻 姿控飞轮 能量回收 模型试验 

分 类 号：S219.1[农业科学—农业机械化工程]