赵建军,朱忠祥,宋正河,周瑞娟,王儒朋,毛恩荣.重型拖拉机电液悬挂比例控制器设计[J].农业机械学报,2014,45(S1):10-16.
Zhao Jianjun,Zhu Zhongxiang,Song Zhenghe,Zhou Ruijuan,Wang Rupeng,Mao Enrong.Proportional Controller for Electro-hydraulic Hitch System in Heavy Tractor[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(S1):10-16.
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重型拖拉机电液悬挂比例控制器设计   [下载全文]
Proportional Controller for Electro-hydraulic Hitch System in Heavy Tractor   [Download Pdf][in English]
投稿时间:2014-07-30  
DOI:10.6041/j.issn.1000-1298.2014.S0.002
中文关键词:  重型拖拉机 电液悬挂 比例控制器 PID控制
基金项目:国家高技术研究发展计划(863计划)资助项目(2013AA100307)和中央高校基本科研业务费专项资金资助项目(2014JD035)
作者单位
赵建军 中国农业大学农业部土壤-机器-植物系统技术重点实验室 
朱忠祥 中国农业大学农业部土壤-机器-植物系统技术重点实验室 
宋正河 中国农业大学农业部土壤-机器-植物系统技术重点实验室 
周瑞娟 中国农业大学农业部土壤-机器-植物系统技术重点实验室 
王儒朋 中国农业大学农业部土壤-机器-植物系统技术重点实验室 
毛恩荣 中国农业大学农业部土壤-机器-植物系统技术重点实验室 
中文摘要:设计了一种基于飞思卡尔MC9S12XS128型微处理器的电液悬挂比例控制器。根据重型拖拉机电液悬挂系统控制要求,在分析现有重型拖拉机电液悬挂比例控制器的结构、类型和特点的基础上,确定了比例控制器的整体设计方案,在CodeWarrior环境下完成软件程序设计,采用PID控制算法实现对拖拉机作业机组的位控制、牵引力控制和力位综合控制。以重型拖拉机电液悬挂系统为试验平台,对所设计的电液悬挂比例控制器进行了田间试验,牵引力和耕深控制的过渡时间分别为3.89s和0.81s。结果表明:比例控制器对重型拖拉机悬挂装置的综合控制具有响应快、精度高、稳定性强等特点,在保证拖拉机平顺性和作业质量的同时,提高了作业效率,降低了拖拉机驾驶员的劳动强度。
Zhao Jianjun  Zhu Zhongxiang  Song Zhenghe  Zhou Ruijuan  Wang Rupeng  Mao Enrong
hina Agricultural University;hina Agricultural University;hina Agricultural University;hina Agricultural University;hina Agricultural University;hina Agricultural University
Key Words:Heavy tractor Electro-hydraulic hitch system Proportional controller PID control
Abstract:A proportional controller for the electro-hydraulic hitch system was developed based on the microprocessor MC9S12XS128 of Freescale. According to the analysis of the structure, type and characteristic of present proportional controllers for the hitch system, the controller architecture was put forward following the control requirements. The software was designed in the environment of CodeWarrior, and the PID control algorithm was adopted to realize three control modes including traction, position and mixed control for hitch system. By taking the heavy tractor with electro hydraulic hitch system as the test platform, the field experiment of the proposed proportional controller was carried out, the response time of traction control was 3.89s while 0.81s of position control. The results showed that the proportional controller for hitch system comprehensive control in high-power tractor possessed of the features of rapid response, high precision, strong stability, etc. Meanwhile, it can not only improve the field operating efficiency in the guarantee of ride comfort and working quality of tractor, but also can reduce the driver’s labor intensity.

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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