瞿济伟,郭康权,李翊宁,宋树杰,高 华,周 伟.农用柔性底盘模式切换控制参数试验与优化[J].农业机械学报,2018,49(9):346-352.
QU Jiwei,GUO Kangquan,LI Yining,SONG Shujie,GAO Hua,ZHOU Wei.Experiment and Optimization of Mode Switching Controlling Parameters for Agricultural Flexible Chassis[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(9):346-352.
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农用柔性底盘模式切换控制参数试验与优化   [下载全文]
Experiment and Optimization of Mode Switching Controlling Parameters for Agricultural Flexible Chassis   [Download Pdf][in English]
投稿时间:2018-04-18  
DOI:10.6041/j.issn.1000-1298.2018.09.040
中文关键词:  农用柔性底盘  模式切换  控制参数  试验  优化
基金项目:国家自然科学基金项目(51375401)
作者单位
瞿济伟 西北农林科技大学 
郭康权 西北农林科技大学
陕西省农业装备工程技术研究中心 
李翊宁 西北农林科技大学 
宋树杰 陕西师范大学 
高 华 西北农林科技大学 
周 伟 西北农林科技大学 
中文摘要:为了探索四轮独立驱动与转向农用柔性底盘模式切换的最佳工作参数,利用自制柔性底盘试验台,设计了二元二次通用旋转组合试验,以转向电桥步进电机转速与电磁摩擦锁锁紧电压为试验因素,应用熵值法,将底盘所受纵向力、横向力、转矩及偏置臂转角误差4个指标,构建成为模式切换效果综合评价指标,测试了2种因素对横行与原地回转2种模式切换效果的影响,通过Design-Expert 8.0建立了综合指标与2个因素的回归方程,采用响应面法得出了2种模式切换控制参数的最优组合并进行了试验验证。试验结果表明,2个因素及其交互作用对综合评价指标均具有极显著影响(P<0.01);横行与原地回转模式切换时转速和电压最优组合分别为81r/min、4.60V和91r/min、4.41V;优化组合下模型计算值与试验值最大相对误差为4.73%。
QU Jiwei  GUO Kangquan  LI Yining  SONG Shujie  GAO Hua  ZHOU Wei
Northwest A&F University,Northwest A&F University;Shaanxi Agricultural Equipment Engineering Technology Research Center,Northwest A&F University,Shaanxi Normal University,Northwest A&F University and Northwest A&F University
Key Words:agricultural flexible chassis  mode switching  controlling parameters  experiment  optimization
Abstract:Agricultural flexible chassis is a kind of vehicle with four wheel independent steering and four wheel independent driving. There are four special motion modes of this chassis, including straight motion, cross motion, diagonal motion and in place rotation. Each motion is achieved by controlling the steering stepper motor and the electromagnetic friction lock. For exploring the best controlling parameters of mode switching(MS), a binary quadratic rotation combination test was conducted by using a self made flexible chassis test bench. The speed of the steering stepper motor and the locking voltage of the electromagnetic friction lock were selected as two factors in the test. The entropy method was then used to establish comprehensive evaluation index(CEI) for MS effect integrating the longitudinal force, lateral force, torque of chassis and the angle error of the off centered arm. Analyses were presented about the influence of two factors on MS effect for the cross motion mode and the in place rotation mode meanwhile. The regression equation of the CEI and the two factors was also established by Design Expert 80. The optimal combinations of controlling parameters for these two modes were afterwards obtained by using response surface methodology and finally validated by experiments. The results showed that these two 〖JP3〗factors and their interactions had extremely significant influence on the CEI (P<0.01). The optimal combination of rotation speed and voltage for these two modes was 81r/min, 4.60V and 91r/min, 4.41V, respectively. The maximum relative error between the calculated and experimental values of the CEI was 4.73%. These conclusions can provide references for the study about motion control of agricultural electric chassis.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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