拖拉机三点悬挂电液加载系统研究与试验  

Research and Test of Tractor's Three-point Suspension Electro-hydraulic Loading System

作　　者：宗建华 王玲[1] 吕东晓 张旗 王书茂[1] Zong Jianhua;Wang Ling;Lv Dongxiao;Zhang Qi;Wang Shumao(College of Engineering,China Agricultural University,Beijing 100083,China)

机构地区：[1]中国农业大学工学院,北京100083

出　　处：《农机化研究》2024年第2期242-248,共7页Journal of Agricultural Mechanization Research

基　　金：国家自然科学基金项目(31801783)。

摘　　要：三点悬挂系统是拖拉机关键工作系统之一。由于田间作业工况的复杂多变,拖拉机三点悬挂液压系统承受较大的随机载荷,容易发生零部件破坏与液压故障等问题,直接影响拖拉机安全及作业效率。基于以上问题,研发了拖拉机三点悬挂电液加载系统,并基于NI Compact-RIO开发了拖拉机加载平台测控仪与上位机测控软件,实现了信号采集与加载控制。利用ARMAX模型进行系统辨识,得到电液系统模型,并与MatLab传递函数辨识箱比较,平均绝对误差降低33.90%,均方误差降低87.36%,均方根误差降低64.45%;基于PID控制方法,上位机以20Hz加载频率将阶梯信号、正弦信号、田间三点悬挂牵引力载荷应用于加载系统进行复现,效果完全可以满足试验台的控制加载要求。试验结果表明:基于ARMAX模型的系统辨识及基于PID的控制方法结合三点悬挂电液加载系统,可将田间三点悬挂牵引力载荷加载复现,为基于田间动态载荷加载的拖拉机三点悬挂零部件与系统可靠性试验提供了平台和方法支撑。The three-point hitch system is one of the key working systems of the tractor.Due to the complex and changeable working conditions in the field,the three-point hitch hydraulic system of the tractor bears a large random load,which is prone to problems such as parts damage and hydraulic failure,which directly affects the safety of the tractor.and work efficiency.Based on the above problems,the tractor three-point suspension electro-hydraulic loading system was designed and developed,and the tractor loading platform measurement and control instrument and the host computer measurement and control software were developed based on NI Compact-RIO to realize signal acquisition and loading control.The ARMAX model is used for system identification,and the electro-hydraulic system model is obtained.Compared with the Matlab transfer function identification box,the average absolute error is reduced by 33.90%,the mean square error is reduced by 87.36%,and the root mean square error is reduced by 64.45%;based on the PID control method,the upper The machine applied the ladder signal,sinusoidal signal and three-point suspension traction load to the loading system at a loading frequency of 20 Hz for reproduction,and the reproduction effect can fully meet the control loading requirements of the test bench.The test results show that the system identification based on ARMAX model,the control method based on PID and the three-point hitch electro-hydraulic loading system can reproduce the traction load of the three-point hitch in the field.System reliability test provides platform and method support.

关 键 词：拖拉机 电液加载系统 三点悬挂 系统辨识 ARMAX模型 PID控制算法 

分 类 号：S219.032.4[农业科学—农业机械化工程]