基于变量马达控制的喷雾机驱动防滑系统设计与试验  

Design and Experiment of Spray Machine Drive Anti-skid System Based on Variable Motor Control

作　　者：孙恬恬 毛恩荣[1,2] 傅梁起 宋正河 李臻[1,2] 李平 SUN Tiantian;MAO Enrong;FU Liangqi;SONG Zhenghe;LI Zhen;LI Ping(College of Engineering,China Agricultural University,Beijing 100083,China;National Key Laboratory of Intelligent Agricultural Power Equipment,Beijing 100083,China;College of Mechanical and Electronic Engineering,Tarim University,Alar 843300,China)

机构地区：[1]中国农业大学工学院,北京100083 [2]智能农业动力装备全国重点实验室,北京100083 [3]塔里木大学机械电气化工程学院,阿拉尔843300

出　　处：《农业机械学报》2024年第5期158-166,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：兵团财政科技计划项目(2022DB001);拼多多-中国农业大学研究基金项目(PC2023B01005)。

摘　　要：高地隙自走式喷雾机因其作业环境复杂易产生车轮滑转,影响静液压驱动系统流量及压力稳定性,严重时导致整机失去通过性能,故须进行防滑控制,保证其具备驱动稳定性和脱困能力。本文提出一种高地隙自走式喷雾机静液压驱动系统防滑控制方法,采用双线性模型定义滑转率与附着系数之间的关系,设计了滑模控制器,并通过田间非道路试验验证了驱动防滑系统的控制性能。试验结果表明,该系统可将喷雾机滑转率控制在0.15以内。在起步加速与匀速工况下,喷雾机滑转率均值为0.020和0.019;在越沟工况下,可2 s内实现整机快速脱困。以上结果验证了所设计的喷雾机滑模驱动防滑系统具有良好的防滑性能,能够保证喷雾机在典型工况下平稳行驶,有效减少了地面不利条件对整机行驶稳定性的影响。The self-propelled sprayer for high ground clearance is prone to wheel slippage in complex operating environments,which can affect the flow and pressure stability of the static hydraulic drive system.In severe cases,this can lead to a loss of maneuverability,necessitating the implementation of anti-skid control to ensure stable driving performance and the ability to escape from difficult situations.A static hydraulic drive system anti-skid control scheme was proposed for a large-scale self-propelled sprayer for high ground clearance.It defined the relationship between slip ratio and adhesion coefficient by using a bilinear model,and a sliding mode controller was designed.Field off-road tests were conducted to validate the control performance of the anti-skid system.The experimental results demonstrated that the system can control the sprayer's slip ratio within 0.15.Under conditions of initial acceleration and constant speed,the mean slip ratios were 0.020 and 0.019,respectively.Moreover,under ditch-crossing conditions,the entire machine can be rapidly freed within 2 s.These results confirmed that the designed sliding mode anti-skid system for the sprayer exhibited excellent anti-skid performance,ensuring smooth operation under typical conditions and effectively reducing the impact of unfavorable ground conditions on overall stability.The research did not utilize flow control valves or diverter valves,ensuring high control precision.It held the potential to achieve comprehensive and continuous anti-skid control for large-scale high ground clearance sprayers,thereby enhancing their driving stability,ground traversability,and active escape capability.

关 键 词：喷雾机 静液压驱动 防滑控制 滑模控制 滑转率 

分 类 号：S491[农业科学—植物保护]