丘陵区履带式烟叶采收机液压行驶系统的创新设计与试验  

Creative design and experiment of hydraulic travel system for hilly region crawler tobacco harvester

作　　者：朱晨辉[1] 王淼森 陈博 张红梅[1] 朱骐 何勋[1] 王万章[1] ZHU Chenhui;WANG Miaosen;CHEN Bo;ZHANG Hongmei;ZHU Qi;HE Xun;WANG Wanzhang(College of Mechanical and Electrical Engineering,Henan Agricultural University,Zhengzhou 450002,China;Zhengzhou Railway Vocational and Technical College,Zhengzhou 451460,China)

机构地区：[1]河南农业大学机电工程学院,河南郑州450002 [2]郑州铁路职业技术学院,河南郑州451460

出　　处：《河南农业大学学报》2022年第4期532-542,共11页Journal of Henan Agricultural University

基　　金：现代农业产业技术体系建设专项资金项目(CARS-03);河南省科技攻关项目(222102110457);河南省现代农业产业技术体系专项(S2010-02-G09);河南省烟草公司科技专项(HYKJ1206/2016);河南省博士后资助项目(279456)。

摘　　要：【目的】解决履带式烟叶采收机在丘陵区烟田作业时因路面不平造成的行走不稳问题。【方法】设计基于双泵–双定量马达形式的液压行驶系统。对该系统中的动力单元、液压系统以及控制单元进行了设计与计算选型,并提出了基于交叉耦合模糊比例控制、积分控制与微分控制(proportional-integral-derivative control,PID)的同步直行和内侧降速式差速转向相结合的行驶控制方法。基于AMESim软件对烟叶采收机液压行驶系统进行仿真,验证液压行驶系统设计的可行性,分析其在斜坡满载起步、停车和平地差速转向3种工况下变量泵和定量马达液压输出特征,并进行田间作业试验。【结果】选用常柴4G33TC型电喷柴油发动机、力克川LTM07NVB定量减速马达和力士乐A10VG45EP3D1电液比例斜盘式轴向柱塞变量泵作为液压驱动系统。与理论值相比,履带式烟叶采收机最高转场车速、加速时间和最大爬坡度的误差均在2%以内,最大转向角速度为2.88 rad·s^(-1),误差小于4.2%,最小转向半径为0.135 m,制动距离为3.1 m,其动力性、转向性、制动性、持续行驶性和操纵性均满足设计要求。【结论】该履带式烟叶采收机是中国国内首台行驶系统采用双泵–双定量马达驱动系统的全液压作业机器,能够满足丘陵区烟田采收机稳定行驶的作业要求。【Objective】In order to solve the problem of unstable walking caused by the uneven road surface during operation of the crawler tobacco harvester in hilly tobacco fields.【Methods】A hydraulic travel system based on the dual-pump-dual-motor form was designed.The power unit,hydraulic system and control unit in the hydraulic travel system were designed and selected,and a travel control method combining synchronous straight travel with cross-coupling fuzzy PID and inner speed-down differential steering was proposed.Based on AMESim software,the hydraulic travel system of the tobacco harvester was simulated to verify the feasibility of the design of the hydraulic travel system.The hydraulic output characteristics of the variable pump and the quantitative motor were analyzed under the three working conditions of ramp start,parking and level differential steering.【Results】Chang chai 4G33TC EFI diesel engine,Lectra LTM07NVB quantitative reduction motor and Rexroth A10VG45EP3D1 electrohydraulic proportional swash plate axial piston variable pump were selected as the hydraulic drive system.Compared with the theoretical value,the errors of the maximum transition speed,acceleration time and maximum climbing degree of the crawler tobacco harvester were all within 2%,the maximum steering angular velocity was 2.88 rad·s^(-1),the error was less than 4.2%,the minimum steering radius was 0.135 m,and the braking distance was 3.1 m.The above parameters all met the design requirements.【Conclusion】This crawler tobacco harvester is the first full-hydraulic working machine in China that adopts a dual-pump-dual-motor drive system could meet the operational requirements of tobacco harvesters for stable driving in hilly tobacco fields.

关 键 词：丘陵区 履带式烟叶采收机 液压行驶系统 变量泵 定量马达 

分 类 号：S224.4[农业科学—农业机械化工程]