自走式静液压驱动履带拖拉机的运动控制的设计  

Design of Motion Control for Self-propelled Hydrostatic Drive Crawler Tractor

作　　者：龙凤凉 王志辉 汤轩 Long Fengliang;Wang Zhihui;Tang Xuan(Hunan Industry Polutechnic,Changsha 410208,China;Changsha Vocational&Technical College,Changsha 410217,China)

机构地区：[1]湖南工业职业技术学院,长沙410208 [2]长沙职业技术学院,长沙410217

出　　处：《农机化研究》2023年第11期242-246,共5页Journal of Agricultural Mechanization Research

基　　金：湖南省科技厅自然科学基金项目科教联合项目(2019JJ70082)。

摘　　要：静压驱动履带拖拉机在田间作业时具有较高的环境适应性与较高的工作效率,是目前应用最为广泛的农业拖拉机之一。为此,通过将履带拖拉机模型和液压驱动泵电机模型与转速调节控制方案相结合,设计了静液压驱动履带拖拉机的运动控制系统。以履带式拖拉机的质心速度和旋转角速度为输入,基于Matlab/Simulink工具箱建立并验证了静压驱动履带式拖拉机运动控制系统,并对静液压驱动履带拖拉机转向和直线行驶的运动进行仿真分析。仿真结果表明:在模糊PID控制器的控制下,静液压驱动的履带式拖拉机能够转向并沿直线行驶,可达到自走的目标,仿真结果相对误差小于10%,可为履带拖拉机转向动力学研究提供参考。The hydrostatic drive crawler tractor has high environmental adaptability and high efficiency in field operation,and is one of the most widely used agricultural tractors at present.In this study,the motion control system of hydrostatic drive crawler tractor is designed by combining the crawler tractor model and hydraulic drive pump motor model with the speed regulation control scheme.The motion control system of the hydrostatic driven crawler tractor is established and verified based on Matlab/Simulink toolbox with the center-of-mass velocity and rotational angular velocity of the crawler tractor as inputs,and the motion of the hydrostatic driven crawler tractor for steering and straight driving is simulated and analyzed.The simulation results show that under the control of fuzzy PID controller,the hydrostatic-driven crawler tractor can steer and travel along a straight line,and at the same time achieve the goal of self-propelled,and the relative error of simulation results is less than 10%,and the simulation method and results can provide reference for the research of crawler tractor steering dynamics.

关 键 词：履带拖拉机 自走式 静液压 驱动装置 

分 类 号：S225.93[农业科学—农业机械化工程]