拖拉机自动转向试验台研制

doi:10.12133/j.smartag.2019.1.2.201903-SA002

Smart Agriculture ›› 2019, Vol. 1 ›› Issue (2): 85-93.doi: 10.12133/j.smartag.2019.1.2.201903-SA002

拖拉机自动转向试验台研制

杜娟^1,², 李敏^1,², 金诚谦^1,², 印祥^1,^2,^*()

^1. 山东理工大学农业工程与食品科学学院,山东淄博,255000
^2. 山东省旱作农业机械及信息化重点实验室,山东淄博,255000

收稿日期:2019-03-13 修回日期:2019-04-18 出版日期:2019-04-30
基金项目:
国家重点研发计划项目(2017YFD0700405);山东省高等学校科技计划项目(J17KA145);山东省高等学校优势学科人才团队培育计划项目(2016-2020);山东省农机装备研发创新计划项目(2018YF006)
作者简介:杜娟（1985-）,女,博士,讲师,研究方向：农业装备自动控制,Email：dujuan_0427@163.com。
通信作者: 印祥（1982-）, 男, 博士, 副教授, 研究方向：农业装备自主导航与智能控制, 电话：18369916558, Email：666513@163.com

Development of an automatic steering test bench for tractors

Du Juan^1,², Li Min^1,², Jin Chengqian^1,², Yin Xiang^1,^2,^*()

^1. College of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China
^2. Shandong Provincial Key Laboratory of Dry Farming Machinery & Informationalization, Shandong University of Technology, Zibo 255000, China

Received:2019-03-13 Revised:2019-04-18 Online:2019-04-30
Foundation items:National Key Research and Development Program of China(2017YFD0700405);Shandong Province Higher Education Science and Technology Plan Project (J17KA145);Shandong Province Higher Education Advantageous Discipline Talent Team Cultivation Plan Project (2016-2020);Shandong Province Agricultural Machinery and Equipment Research and Development Innovation Program Project (2018YF006)
About author:Du Juan,Email：dujuan_0427@163.com
Corresponding author:Yin Xiang, Email：666513@163.com

摘要/Abstract

摘要：

农业机械自动转向是实现农业机械自动化和智能化的关键技术之一,农田作业工况较为复杂,拖拉机自动转向装置的现场安装调试费时费力。针对这一问题,本研究研制了一种拖拉机自动转向试验台,对拖拉机自动转向装置进行模拟调试与测试以保证其控制的准确性和可靠性,从而减少田间测试时间,降低安装使用成本。本研究选用120马力拖拉机前桥,通过对机械结构、液压系统和电气控制系统的设计计算,搭建了拖拉机自动转向试验台。利用惯性测量单元对转向系统工作性能进行测试,试验结果表明方向盘平均转向间隙为16.48°,车轮平均转角延迟时间为0.14s,响应速度和稳定性符合农业机械转向要求。所研制的拖拉机自动转向试验台能够用于测试拖拉机前桥的工作状态,并对其转向性能参数进行准确采集和记录,可为农业机械自动转向装置的调试和性能检测提供一个高效可靠的测试平台。

关键词: 拖拉机, 自动转向, 试验台, 自动控制

Abstract:

In recent years, the technology of automatic tractor navigation based on satellite positioning has greatly improved the efficiency and accuracy of tractor field work. Automatic steering contributes is one of the key technologies to realize the automation and intelligentization of agricultural mechanization. It costs much time to install and test automatic steering systems for tractors in the field due to complicated conditions. An automatic steering test bench was developed to reduce time consumed in the field by conducting simulation tests on accuracy and reliability. The developed automatic steering system can be applied to the tractor after obtaining satisfactory results on the test bench, which will greatly shorten the development cycle and improve the precision of the system. In this study, a 120-horsepower tractor front axle was selected. Through the design and calculation of mechanical structure, hydraulic system and electrical control system, the tractor automatic steering test bench was built. The mechanical body consist of a tractor front axle assembly, a loading device and a mechanical frame. The hydraulic interface was reserved for post-installation of automatic steering devices. Two inertial measurement units were used to test the steering system performance by recording the rotation angle of front wheels and the steering wheel. The steering wheel had a steering clearance of 16.48° and an average wheel delay time of 0.14s. In the general range and small angle range, there is a small deviation between the actual corner and the theoretical corner. Responsibility and stability met requirements for agricultural machinery steering. Experimental results show that the test bench has stable performance in terms of status detection, steering control and measurement analysis, which could meet requirements for verifying working parameters of automatic steering devices. The research provides an efficient and reliable test bench for commissioning and performance testing of agricultural machinery automatic steering.

Key words: tractor, automatic steering, test bench, automatic control

中图分类号:

S232

杜娟, 李敏, 金诚谦, 印祥. 拖拉机自动转向试验台研制[J]. 智慧农业(中英文), 2019, 1(2): 85-93.

Du Juan, Li Min, Jin Chengqian, Yin Xiang. Development of an automatic steering test bench for tractors[J]. Smart Agriculture, 2019, 1(2): 85-93.

参考文献

[1]	刘进一 . 基于速度自适应的拖拉机自动导航控制系统研究[D]. 北京: 中国农业大学, 2017.
[1]	Liu J . Research on automatic navigation control system of tractor based on speed adaptation[D]. Beijing: China Agricultural University, 2017.
[2]	胡静涛, 高雷, 白晓平 , 等. 农业机械自动导航技术研究进展[J]. 农业工程学报, 2015,31(10):1-10.
[2]	Hu J, Gao L, Bai X , et al. Review of research on automatic guidance of agricultural vehicles[J]. Transactions of the CSAE, 2015,31(10):1-10.
[3]	魏爽, 李世超, 张漫 , 等. 基于GNSS的农机自动导航路径搜索及转向控制[J]. 农业工程学报, 2017,33(S1):70-77.
[3]	Wei S, Li S, Zhang M , et al. Automatic navigation path search and turning control of agricultural machinery based on GNSS[J]. Transactions of the CSAE, 2017,33(S1):70-77.
[4]	周建军, 张漫, 汪懋华 , 等. 基于模糊控制的农用车辆路线跟踪[J]. 农业机械学报, 2009,40(04):151-156.
[4]	Zhou J, Zhang M, Wang M , et al. Path tracking for agricultural vehicle based on fuzzy control[J]. Transactions of the CSAM, 2009,40(04):151-156.
[5]	刘金波, 迟德霞, 金宏亮 . 国内的农用车辆自动转向系统研究进展[J]. 农业科技与装备, 2011(04):67-68, 72.
[5]	Liu J, Chi D, Jin H , et al. Research progress on automatic steering system in domestic farm vehicles[J]. Transactions of the Agricultural Science & Technology and Equipment, 2011(04):67-68, 72.
[6]	马建斌 . 拖拉机自动转向控制系统设计[J]. 科协论坛(下半月), 2013(10):121-122.
[7]	Reid J F, Zhang Q, Noguchi N , et al. Agricultural automatic guidance research in North America[J]. Computers and Electronics in Agriculture, 2000,25(1-2):155-167.
[8]	Zhang Q, Reid J F, Wu D . Hardware-in-the-loop simulator of an off-road vehicle electrohydraulic steering system[J]. Transactions of the ASAE, 2000,43(6):1323-1330.
[9]	张琳洁, 张文爱, 韩应征 , 等. 农业机械导航关键技术发展分析[J]. 农机化研究, 2016,38(06):10-15, 25.
[9]	Zhang L, Zhang W, Han Y , et al. Current situation of navigation technology for agricultural machinery[J]. Transactions of the Journal of Agricultural Mechanization Research, 2016,38(06):10-15, 25.
[10]	罗锡文, 张智刚, 赵祚喜 , 等. 东方红X-804拖拉机的DGPS自动导航控制系统[J]. 农业工程学报, 2009,25(11):139-145.
[10]	Luo X, Zhang Z, Zhao Z , et al. Design of DGPS navigation control system for Dongfanghong X-804 tractor[J]. Transactions of the CSAE, 2009,25(11):139-145.
[11]	吴晓鹏, 赵祚喜, 张智刚 , 等. 东方红拖拉机自动转向控制系统设计[J]. 农业机械学报, 2009,40(S1):1-5.
[11]	Wu X, Zhao Z, Zhang Z , et al. Development of automatic steering control system on Dongfanghong tractor[J]. Transactions of the CSAM, 2009,40(Supp.):1-5.
[12]	陈文良, 宋正河, 毛恩荣 . 拖拉机自动驾驶转向控制系统的设计[J]. 华中农业大学学报, 2005, (S1):57-62.
[12]	Chen W, Song Z, Mao E . Design of steering control system for automatic drive of tractor[J]. Journal of Huazhong Agricultural, 2005, (S1):57-62.
[13]	Qiu H, Zhang Q . Feed forward-plus-proportional- integral-derivative controller for an off-road vehicle electrohydraulic steering system[J]. Journal of Automobile Engineering, 2003,217(5):375-382.
[14]	胡炼, 罗锡文, 赵作喜 , 等. 插秧机电控操作机构和控制算法设计[J]. 农业工程学报, 2009,25(4):118-122.
[14]	Hu L, Luo X, Zhao Z , et al. Design of electronic control device and control algorithm for rice transplanter[J]. Transactions of the CSAE, 2009,25(4):118-122.
[15]	张智刚, 罗锡文, 李俊岭 . 轮式农业机械自动转向控制系统研究[J]. 农业工程学报, 2005(11):77-80.
[15]	Zhang Z, Luo X, Li J . Automatic steering control system of wheeled model farming machinery[J]. Transactions of the CSAE, 2005,21(11):77-80.
[16]	胡炼, 罗锡文, 张智刚 , 等. 基于CAN总线的分布式插秧机导航控制系统设计[J]. 农业工程学报, 2009,25(12):88-92.
[16]	Hu L, Luo X, Zhao Z , et al. Design of electronic control device and control algorithm for rice transplanters based on controller area network. Transactions of the CSAE, 2009,25(12):88-92.
[17]	Cheng Y, Van Mierlo J, Lataire P , et al. Test bench of hybrid electric vehicle with the super capacitor based energy storage. IEEE International Symposium on Industrial Electronics. 2007, 147-152.
[18]	朱思洪, 朱永刚, 朱星星 , 等. 大型拖拉机动力换挡变速箱试验台[J]. 农业机械学报, 2011,42(4):13-16.
[18]	Zhu S, Zhu Y, Zhu X , et al. Test-bed of power shift transmission for large-scale tractor[J]. Transactions of the CSAM, 2011,42(4):13-16.
[19]	李志臣, 时苏战, 凌秀军 , 等. 拖拉机主动转向试验台设计[J]. 中国农机化学报, 2016,37(11):127-130.
[19]	Li Z, Shi S, Ling X , et al. Design of intelligent active steering test-bench of tractor[J]. Transactions of the Journal of Chinese Agricultural Mechanization, 2016,37(11):127-130.
[20]	东方红LX1204拖拉机[J]. 现代农机, 2016(06):40.
[21]	王庆 . 拖拉机电控液压动力转向系统的转向机构及液压系统设计[D]. 南京: 南京农业大学, 2010.
[21]	Wang Q . Steering mechanism and hydraulic system for the electronic control hydraulic power steering system of tractor[D]. Nanjing: Nanjing Agriculture, 2010.
[22]	廖抒华, 王金波, 张宝霞 , 等. 转向系统试验台转向阻力模拟研究现状及发展[J]. 上海汽车, 2009, (10):33-35.
[22]	Liao S, Wang J, Zhang B , et al. Development and research status of steering resistance simulation based on steering system testbed[J]. Journal of Shanghai Automotive, 2009, (10):33-35.
[23]	高连兴, 吴明 . 拖拉机汽车学[M]. 北京: 中国农业出版社, 2009.
[24]	吕栗樵, 石全社, 都丽萍 , 等. 轮式拖拉机原地转向阻力矩的分析与实验[J]. 农业机械学报, 1990, (3):1-9.
[24]	Lv L, Shi Q, Du L , et al. Analysis and experiment of resistant torque of wheeled tractor at static turn[J]. Transactions of the CSAM 1990, (3):1-9.
[25]	赵建东 . 基于东方红SG-250拖拉机电控液压转向系统研究[D]. 南京: 南京农业大学, 2012.
[25]	Zhao J . Research of electronic hydraulic steering system based on the Dongfanghong SG 250 tractor[D]. Nanjing: Nanjing Agriculture University, 2012.
[26]	刘军营 . 液压与气压传动(第2版) [M]. 西安: 西安电子科技大学出版社, 2014,8.
[27]	张利平 . 液压传动系统设计与使用[M]. 北京: 化学工业出版社, 2010.
[28]	吴朋涛 . 履带拖拉机液压驱动系统的设计[D]. 杨凌: 西北农林科技大学, 2013.
[28]	Wu P . The design of crawler tractor’s hydraulic driving system[D]. Yangling: Northwest A&F University, 2013.
[29]	黄悦峰, 王榜, 张启鹏 , 等. 九轴无线姿态传感器(LPMS-B)检测分析及应用[J]. 装备制造技术, 2018(01):89-93.
[29]	Huang Y, Wang B, Zhang Q , et al. The detection analysis and application of the LP-RESEARCH motion sensor bluetooth version (LPMS-B)[J]. Transactions of the Equipment Manufacturing Technology, 2018(01):89-93.
[30]	李标 . 基于LPMS-B的机器人末端姿态检测试验研究[D]. 南宁: 广西大学, 2015.
[30]	Li B . Research on the terminal attitude determination method of robots based on LPMS-B[D]. Nanning: Guangxi University, 2015.

拖拉机自动转向试验台研制

Development of an automatic steering test bench for tractors

在线阅读

知网下载

本地下载

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 3

编辑推荐

Metrics

本文评价

[1]	牟孝栋, 杨福增, 段罗佳, 刘志杰, 宋卓颖, 李宗霖, 管寿青. 丘陵山地拖拉机调平与防翻关键技术研究现状与发展趋势[J]. 智慧农业(中英文), 2024, 6(3): 1-16.
[2]	吴剑桥, 范圣哲, 贡亮, 苑进, 周强, 刘成良. 果蔬采摘机器手系统设计与控制技术研究现状和发展趋势[J]. 智慧农业(中英文), 2020, 2(4): 17-40.
[3]	朱航, 李宏泽, 黄钰, 于海涛, 董云哲, 李君兴. 施药技术参数对旋翼植保无人机喷雾特性的影响[J]. 智慧农业(中英文), 2019, 1(3): 113-122.