无人驾驶拖拉机的发动机控制系统开发及测试  

Development and Test of Engine Control System for Tractors Equipped with Driver-less Driving System

作　　者：胡友耀 纪帅伟[3] 李明建 雷军 章明 HU Youyao;JI Shuaiwei;LI Mingjian;LEI Jun;ZHANG Ming(State Key Laboratory of Intelligent Agricultural Power Equipment,Luoyang 471039,China;Luoyang Tractor Research Institute Co.,Ltd.,Luoyang 471039,China;YTO(Luoyang)Diesel Engine Co.,Ltd.,Luoyang 471004,China)

机构地区：[1]智能农业动力装备全国重点实验室,河南洛阳471039 [2]洛阳拖拉机研究所有限公司,河南洛阳471039 [3]中国一拖(洛阳)柴油机有限公司,河南洛阳471004

出　　处：《拖拉机与农用运输车》2023年第5期47-50,55,共5页Tractor & Farm Transporter

摘　　要：参与了东方红某型号拖拉机配某国产无人驾驶系统的方案开发及相关控制系统软件设计。完成了发动机控制器远程油门控制程序及远程停车程序设计等。参考拖拉机实际振动工况,完成了对控制器的加速失效振动测试及随机振动测试等,整个控制系统通过了静态功能测试及场地测试。结果表明,发动机响应达到无人系统要求,整个无人驾驶导航直线作业精度可以达到±2.5 cm;农机具提升/下降、紧急停车、熄火等功能也得以验证。The authors have participated in the scheme development of LY1104-C tractor matching a domestic driver-less driving system and designed the related control system software.And the authors design the remote throttle control program and remote stop program of engine controller,etc.Referring to the actual vibration condition of the tractor,the authors have completed the acceleration failure vibration test and random vibration test of the engine controller.The static function test and field test of the whole control system has passed.The result shows that the engine response meets the requirements of the driver-less system,and that the straight-line operation accuracy of the driver-less system can reach±2.5 cm,and that the functions of agricultural machinery lifting/lowering,emergency stop and shutting down were also verified.

关 键 词：振动 远程油门 远程熄火 CAN总线 无人驾驶 

分 类 号：V433[航空宇航科学与技术—航空宇航推进理论与工程]