基于玉米播种的无人驾驶电动拖拉机设计试验  

Design Test of an Unmanned Electric Tractor Based on Corn Seeding

作　　者：李珊珊[1,2] 吴正开 王家忠 孔德刚[1,2] 袁永伟 刘江涛[1,2] 王泽河 Li Shanshan;Wu Zhengkai;Wang Jiazhong;Kong Degang;Yuan Yongwei;Liu Jiangtao;Wang Zehe(College of Mechanical and Electrical Engineering,Agricultural University of Hebei,Baoding 071001,China;Hebei Intelligent Agricultural Equipment Technology Innovation Center,Baoding 071001,China)

机构地区：[1]河北农业大学机电工程学院,河北保定071001 [2]河北省智慧农业装备技术创新中心,河北保定071001

出　　处：《农机化研究》2025年第3期247-253,共7页Journal of Agricultural Mechanization Research

基　　金：河北省重点研发项目(22327202D,21327203D);河北省现代农业产业技术体系项目(HBCT2023020205)。

摘　　要：针对传统拖拉机进行玉米播种时作业直线度差、播种过程中动力传递不平稳的问题,设计了一台特征滑移率下牵引力超过10 kN的无人驾驶电动拖拉机。首先,根据玉米播种农艺和播种作业要求,设计无人驾驶电动拖拉机播种机组整机架构、拖拉机的软件和能量传递架构;然后,分析无人驾驶电动拖拉机常见作业工况下的动力需求,根据开沟阻力计算关键部件功率需求,得到整机参数;最后,进行行走、播种工况试验测试,验证车辆性能。试验结果表明:在行走工况中,特征滑移率下的牵引动力为10 417 N,满足设计要求;电压、电流稳定输出,横向偏差在5 cm之内,满足作业要求。在播种工况下,特征滑移率下牵引动力为11 491 N,播种出苗后,苗直线度偏差在5 cm之内,满足农艺要求。标准工况下,动力电池单体在不同温度下稳定放电,电池以1 C放电时,容量在5~100 A·h之间能稳定运行,符合农业作业标准。Aiming at the problems of poor straightness and uneven power transmission during maize sowing with traditional tractor,this paper designed an unmanned electric tractor with traction force exceeding 10 kN under characteristic slip rate.First of all,according to the requirements of corn seeding agronomy,designed the whole structure of the unmanned electric tractor seeding unit,and designed the software and energy transfer architecture of the tractor according to the requirements of seeding.Then analyzed the power demand of the unmanned electric tractor under common working conditions,calculated the power demand of key components according to the trenching resistance,and got the parameters of the whole machine.At last,the vehicle performance was verified by the experiment test under walking and seeding conditions.The test results showed that:in the running condition,the traction power under the characteristic slip rate was 10417 N,which met the design requirements,the voltage and current were stable output,and the transverse deviation was within 5 cm,which met the operation requirements.Under the sowing conditions,the traction power under the characteristic slip rate was 11491 N,and the deviation of straightness of seedlings after seeding was within 5 cm,which met the agronomic requirements.Under standard working conditions,the power battery unit was stably discharged at different temperatures,and when the battery was discharged at 1 C,the capacity can run stably during the period from 5 A·h to 100 A·h,which was in line with agricultural operation standards.

关 键 词：无人驾驶电动拖拉机 玉米播种 行走工况 播种工况 

分 类 号：S219.4[农业科学—农业机械化工程]