宋树杰,李翊宁,瞿济伟,周伟,张宗玲,郭康权.柔性底盘性能检测试验台设计与应用[J].农业机械学报,2016,47(2):77-83.
Song Shujie,Li Yining,Qu Jiwei,Zhou Wei,Zhang Zongling,Guo Kangquan.Development and Application of Test Bench for Flexible Chassis[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(2):77-83.
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柔性底盘性能检测试验台设计与应用   [下载全文]
Development and Application of Test Bench for Flexible Chassis   [Download Pdf][in English]
投稿时间:2015-09-08  
DOI:10.6041/j.issn.1000-1298.2016.02.011
中文关键词:  柔性底盘  测控系统  试验台  水平转盘
基金项目:国家自然科学基金项目(51375401)
作者单位
宋树杰 西北农林科技大学 
李翊宁 西北农林科技大学 
瞿济伟 西北农林科技大学 
周伟 西北农林科技大学 
张宗玲 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 
中文摘要:为了检测基于偏置转向轴结构的四轮独立驱动、独立转向柔性底盘的性能和运动控制参数,试制了一种由 4个水 平转盘构成的柔性底盘性能检测试验台,设计了试验台检测控制电路和系统软件。通过柔性底盘在试验台上的运行,模拟直行和90°横行运动,进行柔性底盘运动性能及控制参数的测试。试验结果表明:在不同运动状态下柔性底盘轮毂电机的转速从0增加到匀速状态所需的时间为2~3 s,柔性底盘直行和90°横行的牵引力分别可以达到1 132 N和1 165 N;定速行驶时,柔性底盘各轮毂电机的驱动力不同,需要实时自动调节各轮毂电机的驱动电流,保证各独立驱动的轮毂电机协调运动。测试结果可为四轮独立驱动独立转向柔性底盘控制策略的制定和参数优化提供依据。
Song Shujie  Li Yining  Qu Jiwei  Zhou Wei  Zhang Zongling  Guo Kangquan
Northwest A&F University,Northwest A&F University,Northwest A&F University,Northwest A&F University,Northwest A&F University and Northwest A&F University;Engineering Research Centre for Agricultural Equipment
Key Words:flexible chassis  measurement and control system  test bench  turntable
Abstract:Flexible chassis is a four-wheel-independent-drive and four-wheel-independent-steer electric vehicle with four in-wheel motors. In order to resolve some key issues about dynamics of the flexible chassis and find its control strategy, a new type of test bench with four turntables was designed for testing the flexible chassis. The flexible chassis was connected to the bench through two groups of sensors with measurement directions being perpendicular to each other. A measurement and control system based on LabView was developed for the test bench, and it can control and record the rotating speeds and electric current of the eight in-wheel motors and the forces of the four force sensors. Firstly, the whole structure design was completed, the working principle of the device was analyzed and a testing system was developed. Secondly, the bench and assemble observation system were made. Finally, the experiment was carried out. The experiment contained two parts. For the fixed rotation speeds of four wheels of flexible chassis, the changing processes of the rotating speed, electric current and the forces at a rotation speed of 55 r/min were monitored and analyzed with two different movement postures of chassis. For the different rotation speeds, the same indexes were analyzed to find the final results. In different motion states of flexible chassis, it took 2~3 s for in-wheel motors’ rotation speed to increase from 0 to stable state. Tractions of flexible chassis can reach 1 132 N and 1 165 N, respectively, when running up-down and left-right; driving force of each in-wheel motor, running at a constant speed, was different, so real-time automatic adjustment of each in-wheel motors’ current was required to ensure the coordinated movement of each wheel when driving independently. The test results could provide basic data for study of flexible chassis and it also proved that the bench was feasible and efficient. The research results provided theoretical and technical references for design of the new type of test bench.

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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