液压四驱喷雾机模糊防滑控制系统设计与试验  

Design and Test of Fuzzy Anti-skid Control of Four-wheel Drive Hydraulically Driven Sprayer

作　　者：周倩倩 温浩军 李中祥 张伟荣 易哲田 王国良 ZHOU Qianqian;WEN Haojun;LI Zhongxiang;ZHANG Weirong;YI Zhetian;WANG Guoliang(College of Mechanical and Electrical Engineering,Shihezi University,Shihezi 832000,China;Northwest Key Laboratory of Agricultural Equipment,Ministry of Agriculture and Rural Affairs,Shihezi 832000,China)

机构地区：[1]石河子大学机械电气工程学院,石河子832000 [2]农业农村部西北农业装备重点实验室,石河子832000

出　　处：《农业机械学报》2020年第S02期283-288,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2016YFD0200705、2017YFD0201904)。

摘　　要：自走式喷雾机由于其作业路面复杂多样易产生滑转,需防滑控制保持机具稳定驱动,本文提出一种模糊防滑控制策略,设计了控制器,并在Matlab/Simulink中对控制系统进行了仿真分析,仿真结果表明:该模糊防滑控制系统可以有效将滑转率控制在0.05左右。最后通过田间试验验证了驱动防滑控制系统的性能,试验表明,所设计的全时四驱液压驱动喷雾机模糊防滑控制机具在低速行进时,未开启防滑控制时相对滑转率均值为0.078,开启后相对滑转率均值为0.028;在中速行进时,未开启防滑控制时相对滑转率均值为0.109,开启后滑转率均值为0.031;在高速行进时,未开启防滑控制时相对滑转率均值为0.110,开启后相对滑转率均值为0.035,表明了该控制系统防滑控制效果良好。During the field of self-propelled sprayer,due to the large quality and volume of whole vehicle and its working on the complex and diverse road,which lead to the self-propelled sprayer prone to slip,and requires an anti-skid control strategy to maintain stable driving of the machine.For this reason,a fuzzy anti-skid control strategy and controller was proposed.Based on the control system,the simulation analysis of the controlling system was carried out by Matlab/Simulink,the simulation result showed that the fuzzy anti-skid control system can effectively control the slip rate at the ideal of 0.05.Finally,the performance of the driving anti-skid control system was verified through field tests.The result of the experiment showed that when the design of the full-time four-wheel drive hydraulically driven sprayer fuzzy anti-skid control device was traveling at low speed,the average slip rate was 0.078 with the situation of without anti-skid control.By contest,when the opening of the anti-skid the average slip rate was 0.028;when the self-propelled sprayer traveling with a medium speed and the anti-skid control was closed,the average slip rate was 0.109.However,when the anti-skid control was turned on and the average slip rate was 0.031;when the self-propelled sprayer traveling with a high speed and the anti-skid control was closed,the average slip rate was 0.110,but the average slip rate was 0.035 after it was opened.Above experiments indicated that the control system had a good anti-skid control effect.The research results provided a theoretical basis for the anti-skid control of four-wheel drive hydraulically system of self-propelled sprayer.

关 键 词：自走式喷雾机 防滑控制 电液控制 控制策略 试验 

分 类 号：S491[农业科学—植物保护]