果园电动双轨运输机启停控制的研究与试验  

Research and experiment on starting and stop contronl system of orchard electric double track transport

作　　者：胡文武[1] 吴帆 蒋蘋[1] 罗亚辉[1] 石毅新[1] 胡江银 HU Wenwu;WU Fan;JIANG Pin;LUO Yahui;SHI Yixin;HU Jiangyin(Electromechanic Engineering College,Hunan Agricultural University,Changsha 410128,China;Xiangtan Biology and Mechatronics School,Xiangtan 411100,China)

机构地区：[1]湖南农业大学机电工程学院,湖南长沙410128 [2]湘潭生物机电学校,湖南湘潭411100

出　　处：《河南农业大学学报》2021年第1期73-79,共7页Journal of Henan Agricultural University

基　　金：国家重点研发计划项目(2017YFD0700903-2);湖南省重点研发计划项目(2018NK2063,2019NK2141);湖南省科技厅青年基金项目(2020JJ5234);湖南省教育厅优秀青年基金项目(20B292)。

摘　　要：以主动安全防护为出发点,以牵引钢缆运动过程中的受力情况为分析对象,针对电动双轨运输机在启动与停车时沿轨道方向加速度对缆绳存在较大惯性冲击、容易破坏限位行程开关等问题,在分析缆绳伸缩影响因素与双轨运输机在启停状态下的加速度变化情况基础上,通过结合电动液压马达,以加速度为控制目标,采用爬坡启动阶梯控制、爬坡停车与下坡启动直接控制、下坡停车增量式PID控制的多模式柔性启停控制策略,在满足控制响应性同时,降低缆绳的冲击载荷,缩短下坡停车距离。试验证明,在900 kg整备质量下,通过多模式柔性启停控制,爬坡启动加速度相比直接启动峰值降低93%。下坡停车阶段时,停车位移缩短4.5 cm,实现了下限位传感器的保护,从而实现对果园牵引式电动双轨运输机的主动安全防护,达到设计预期目标。This study takes active safety protection as the starting point,and takes the force situation of traction steel cable as the analysis object.Aiming at the problems of large inertia impact on cable caused by acceleration along track direction during start-up and stop of electric double track transport,and being easy to damage limit travel switch,based on the analysis of influencing factors of cable extension and acceleration change of double rail transport under start-up and stop state,and combined with the electric hydraulic motor,taking acceleration as the control target,the multi-mode flexible start-up and stop control strategies were adopted,including climbing start-up step control,climbing stop and downhill start-up direct control,and downhill parking incremental PID control to meet the control responsiveness,reduce the impact load of the cable and shorten the downhill parking distance.The test results show that under the condition of 900kg curb weight,the starting acceleration of climbing is reduced by 93%compared with the peak value of direct starting by multi-mode flexible start and stop control.In the downhill parking stage,the parking displacement is shortened by 4.5 cm,which realizes the protection of the lower limit sensor,thus realizing the active safety protection of the orchard traction electric double track transport,and achieving the design goal.

关 键 词：主动安全 双轨运输机 PID 多模式柔性启停控制 

分 类 号：S229.1[农业科学—农业机械化工程]