朱晨辉,李连豪,王万章,张红梅,赵明.高地隙液压履带车自动行走控制系统设计与试验[J].农业机械学报,2018,49(s1):456-462,469.
ZHU Chenhui,LI Lianhao,WANG Wanzhang,ZHANG Hongmei,ZHAO Min.Design and Test of Automatic Walking Control System for High Clearance Hydraulic Tracked Vehicle[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(s1):456-462,469.
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高地隙液压履带车自动行走控制系统设计与试验   [下载全文]
Design and Test of Automatic Walking Control System for High Clearance Hydraulic Tracked Vehicle   [Download Pdf][in English]
投稿时间:2018-07-03  
DOI:10.6041/j.issn.1000-1298.2018.S0.062
中文关键词:  高地隙  履带车  液压  自动行走  控制  差分定位
基金项目:现代农业产业技术体系建设专项(CARS-03)、河南省现代农业产业技术体系岗位专项(S2018-02-G07)和河南省烟草公司科技专项(HYKJ1206/2016)
作者单位
朱晨辉 河南农业大学 
李连豪 河南农业大学 
王万章 河南农业大学 
张红梅 河南农业大学 
赵明 河南农业大学 
中文摘要:针对高秆作物生长中后期无人化田间机械作业需求,在遥控式小型全液压驱动高地隙履带车的基础上,设计了履带车自动行走控制系统。该系统以STM32控制器为控制核心,通过搭载测距、触杆、角速度等传感器得到有效信号,精确控制液压电磁阀开闭时间,使履带车旋转对应的角度,进而使履带车在田间可根据作物生长情况对行行走。为得到履带车在不同偏移状态下的转角,建立了该履带车转向运动模型以及标准田间偏移模型,推导出了履带车在不同对应状态下理论转角的表达式。考虑到履带车转向时存在滑移、滑转的现象,对履带车在不同行驶速度下的转向角速度进行了标定,试验得出实际转向角速度在理论转向角速度的63%~67%之间。为验证液压车自动行走系统的行走效果,在硬质水泥路面进行了两种作业模式的履带车通过性试验,使用集思宝G970高精度GNSS设备精确测定了履带车转向轨迹,数据结果显示,两种行走模式下逆时针行走时,接收机相位中心转向轨迹半径分别为5.573、5.572m,顺时针分别为4.704、4.645m,两种模式下接收机相位中心偏移量在0.163~0.285m之间,车架几何中心转向轨迹半径与实际半径相对误差在0.92%~2.14%之间,履带车对行行走通过效果良好,可为田间自走式履带车辆自动行走控制系统的设计研究提供参考。
ZHU Chenhui  LI Lianhao  WANG Wanzhang  ZHANG Hongmei  ZHAO Min
Henan Agricultural University,Henan Agricultural University,Henan Agricultural University,Henan Agricultural University and Henan Agricultural University
Key Words:high clearance  caterpillar vehicle  hydraulic pressure  automatic walking  control  differential positioning
Abstract:In response to the demand of unmanned field machinery in the middle and late stages of high-stalk crop growth, the automatic walking control system was designed based on a remote control type of small high clearance hydraulic tracked vehicle. The STM32 controller was taken as control core, and the effective signal was obtained by using sensors such as ranging, contact rod, angular velocity and so on, the system can precisely control the opening and closing time of the hydraulic solenoid valve, so that the crawler vehicle can rotate the corresponding angle, and it can walk in the field according to the growth of crop. In order to obtain the angle of rotation of the tracked vehicle under different offset transitions, the steering model of the tracked vehicle and the standard field offset model were established, and the expression of theoretical angle of tracked vehicle in different corresponding states was deduced. Considering the phenomenon of slippage and slippage when the tracked vehicle was turning, the steering angular speed of the tracked vehicle at different driving speeds was calibrated. The test results showed that the actual steering angular velocity was between 63%~67% of the theoretical steering angular velocity. In order to verify the walking effect of the hydraulic vehicle automatic walking system, the track vehicle passing test of two working modes was carried out on the hard cement road surface, and the track trajectory of the tracked vehicle was accurately measured by using Unistrong G970 multi-frequency GNSS system. The results showed that the two-way mode of the receiver's phase center turning trajectory was 5.573m and 5.572m in counterclockwise travel and 4.704m and 4.645m in clockwise walking, respectively, receiver phase center offset was between 0.163m and 0.285m. The relative error of turning track radius and actual radius of frame geometric center was between 0.92% and 2.14%. The tracked vehicle had good effect on automatic walking, which provided a reference for the design of automatic walking control system of field self-walking tracked vehicle.

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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