赵建柱,王枫辰,朱永奇,张筱青,王德成.静液压—机械驱动桥式履带底盘分段跟随转向控制研究[J].农业机械学报,2016,47(4):36-41,35.
Zhao Jianzhu,Wang Fengchen,Zhu Yongqi,Zhang Xiaoqing,Wang Decheng.Subsection Following Steering Control Strategy and Test of Hydrostatic-mechanical Driving Crawler Chassis[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(4):36-41,35.
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静液压—机械驱动桥式履带底盘分段跟随转向控制研究   [下载全文]
Subsection Following Steering Control Strategy and Test of Hydrostatic-mechanical Driving Crawler Chassis   [Download Pdf][in English]
投稿时间:2015-08-23  
DOI:10.6041/j.issn.1000-1298.2016.04.006
中文关键词:  履带底盘  静液压—机械式驱动  分段跟随转向控制
基金项目:公益性行业(农业)科研专项经费项目(201203024)
作者单位
赵建柱 中国农业大学 
王枫辰 中国农业大学 
朱永奇 合肥工业大学 
张筱青 中国农业大学 
王德成 中国农业大学 
中文摘要:为提高静液压—机械驱动桥式履带底盘转向的可操作性及安全性,设计了一种分段跟随控制策略及利用转向盘输入的转向电控系统。根据打滑条件下履带底盘转向分析结果,求解出理论转向轨迹,并根据机械驱动桥响应复位时间进行分段处理。实际履带底盘转向轨迹根据控制策略中所划分的行驶方向角度与位置偏离限控制每一分段时间内驱动桥的离合制动器作用状态,实时跟随理论轨迹。建立了控制策略的评价方法,并进行了算法仿真和电控系统设计及实车试验。仿真结果表明控制算法履带底盘转向相对误差为5.9%~10%,执行器作用平均频率为2.5~6.6Hz。实车试验表明,利用转向盘输入的电控转向系统可满足静液压—机械驱动式履带底盘的转向需求,能够实现驾驶人员转向意图,转向过程平稳。同时,电控系统能够有效减少履带底盘转向过程中的原地滑转,从而减小对地面和农作物的损伤。
Zhao Jianzhu  Wang Fengchen  Zhu Yongqi  Zhang Xiaoqing  Wang Decheng
China Agricultural University,China Agricultural University,Hefei University of Technology,China Agricultural University and China Agricultural University
Key Words:crawler chassis  hydrostatic-mechanical driving  subsection following steering control
Abstract:A kind of subsection following steering control strategy and steering wheel input-based electronic control system were proposed to improve the steering maneuverability and security of the hydrostatic-mechanical driving crawler chassis. According to the steering analysis results of the crawler chassis under skid condition, the theoretical steering track was obtained, and it was segmented by mechanical drive axle responding time. Actual steering track followed theoretical steering track by controlling barking-clutch performance in every subsection period according to vehicle direction angle and position tolerances defined in control strategy. The evaluation system of the strategy was established, and the steering relative errors, relative steering radius ratio, executing frequency were selected as evaluation indexes. Algorithm stimulation and real vehicle test with steering electronic controller by adopting this strategy were also carried out. The stimulation results obtained by Matlab showed that the relative error of steering radius was between 5.9% and 10%, and the average frequency of actuator working was from 2.5Hz to 6.6Hz. The real vehicle test results showed that the electronic steering control system and control strategy had well steering performance, and it could meet various steering needs with stable process, and eliminate the destruction to soil and crops via decreasing the pivot steering slipping.

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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