丘陵山区小型农机底盘自动调平系统设计与试验  

Design and Test of Automatic Leveling System for Chassis of Small Agricultural Machinery in Hilly and Mountainous Areas

作　　者：贾新乐 石舟 李锐 张国海[1] 耿端阳[1] 兰玉彬 王伯龙 JIA Xinle;SHI Zhou;LI Rui;ZHANG Guohai;GENG Duanyang;LAN Yubin;WANG Bolong(School of Agricultural Engineering and Food Science,Shandong University of Technology,Zibo 255000,China;School of Mechanical Engineering,Shandong University of Technology,Zibo 255000,China;Changchun Ruiguang Science and Technology Co.,Ltd.,Changchun 130025,China)

机构地区：[1]山东理工大学农业工程与食品科学学院,淄博255000 [2]山东理工大学机械工程学院,淄博255000 [3]长春瑞光科技有限公司,长春130025

出　　处：《农业机械学报》2024年第S1期108-115,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2021YFD2000502);山东省重点研发计划项目(2023TSGC0536);宁夏自治区重点研发计划项目(2023BCF01052);日照市重点研发计划项目(2023ZDYF010114)

摘　　要：为解决农机在丘陵山地坡度大、地块小等复杂地形下作业的稳定性差、效率低与驾驶安全舒适性差等问题,本文提出了一种丘陵山区小型农机底盘的自动调平系统设计方案,该系统整合了行驶系统、控制系统和调平执行机构。设计了自平衡的三点调平系统,前方调平机构采用被动减震技术处理高频扰动,后方则利用双导柱式伺服电缸确保运动轨迹的精确与稳定;开发了以单片机为核心的控制系统,结合以伺服电缸为主的电控技术,实现作业底盘倾斜角度的自动调节,提高农机在丘陵山区多样性地形下的稳定性和作业效率。为满足农机在复杂地形中对承载与稳定性的要求,调平策略采用了设定点不动调平法并对其运动过程进行了分析。最后经过静态试验验证,该系统可以使不同初始俯仰角和横滚角倾斜状态调整为-0.2°~0.2°的设定状态,动态试验验证了实际工作时可以在2 s内将底盘倾角调整为-1.2°~1.2°且标准偏差约为0.8°,达到设计预期目标。In order to solve the problems of poor stability,low efficiency and poor driving safety and comfort of agricultural machinery operating in complex terrain such as large slope and small plot,a design scheme of automatic leveling system for the chassis of small agricultural machinery in hilly and mountainous areas was put forward,which integrated the driving system,control system and leveling actuator.A self-balancing three-point leveling system was designed.The front leveling mechanism used passive damping technology to deal with high-frequency disturbance,and the rear used double guide post servo cylinder to ensure the accuracy and stability of motion trajectory.The control system based on single chip microcomputer was developed,and the electronic control technology based on servo cylinder was used to realize the automatic adjustment of the tilting angle of the working chassis,so as to improve the stability and working efficiency of the agricultural machinery in the hilly and mountainous terrain.In order to meet the requirements of load bearing and stability of agricultural machinery in complex terrain,the leveling strategy of"fixed set point leveling method"was adopted and its movement process was analyzed.Finally,the static test verified that the system can adjust the tilt state of different initial pitch angle and roll angle to the set state of-0.2°~0.2°.The dynamic test verified that the chassis tilt angle can be adjusted to-1.2°~1.2°and the standard deviation was about 0.8°in actual work,reaching the design expectation.

关 键 词：丘陵山区 农业机械 底盘:自动调平 三点调平 

分 类 号：S220.3[农业科学—农业机械化工程] TP272[农业科学—农业工程]