丘陵山区农用动力底盘液压系统设计与协同控制研究  

Hydraulic System Design and Collaborative Control Research of Agricultural Power Chassis in Hilly and Mountain Areas

作　　者：席昌钱 张富贵[1,2] 郑乐 韩忠禄 贺乘龙 XI Changqian;ZHANG Fugui;ZHENG Le;HAN Zhonglu;HE Chenglong(School of Mechanical Engineering,Guizhou University,Guiyang Guizhou 550025,China;Key Laboratory of Advanced Manufacturing Technology of the Ministry of Education,Guizhou University,Guiyang Guizhou 550025,China;Guizhou Agricultural Machinery Technology Promotion Station,Guiyang Guizhou 550003,China;Guiyang Branch Company,Guizhou Tobacco Company,Guiyang Guizhou 550002,China)

机构地区：[1]贵州大学机械工程学院,贵州贵阳550025 [2]贵州大学现代制造技术教育部重点实验室,贵州贵阳550025 [3]贵州省农业机械技术推广总站,贵州贵阳550003 [4]贵州省烟草公司贵阳市公司,贵州贵阳550002

出　　处：《机床与液压》2024年第20期35-41,共7页Machine Tool & Hydraulics

基　　金：贵州省科技创新基地建设项目(黔科合中引地[2023]010);贵州省烟草公司贵阳市公司科技项目(黔烟筑科〔2022〕1号)。

摘　　要：机械传动农用动力底盘动力输出转速单一、不能适应丘陵山区复杂多变的作业环境。为解决此问题,设计单泵驱动行走马达和动力输出(PTO)马达的液压系统,并根据作业需求对液压系统主要元件进行选型计算。为验证所设计单泵驱动多马达系统的协同动作可行性和模糊PID控制效果,在AMESim中建立液压系统模型,在MATLAB/Simulink中分别搭建基于PID与模糊PID的协同控制系统并进行仿真试验。结果表明:所设计模糊PID控制器比PID控制器最大超调量和延迟响应时间平均减少11%和0.9 s,所设计农用动力底盘液压系统可满足打滑、越障、变坡度和土壤特性变化工况下行走马达和PTO马达的协同控制要求。The output speed of mechanical transmission agricultural power chassis is single and cannot adapt to the complex and changeable operating environment in hilly mountainous areas.In order to solve the problem,a hydraulic system of single pump driving the walking motor and power take off(PTO)motor was designed,and the main components of the hydraulic system were selected and calculated according to the operational requirements.In order to verify the feasibility of the designed single pump driving multi-motor system and the effect of fuzzy PID control,the hydraulic system model was established in AMESim software,and the collaborative control systems were built based on PID and fuzzy PID controller in MATLAB/Simulink,and the simulation test was carried out.The results show that the designed agricultural power chassis hydraulic system can meet the cooperative control requirements of walking motor and PTO motor under skid,obstacle crossing,variable slope and soil characteristics,and the designed fuzzy PID controller reduces the maximum overshoot and delayed response time by an average of 11%and 0.9 s compared with the traditional PID controller.

关 键 词：动力底盘 液压系统 协同控制 模糊PID 

分 类 号：TH137[机械工程—机械制造及自动化]