基于主动悬挂的车载稳定平台调平系统设计与试验
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国家重点研发计划项目(2016YFC0802902)


Design and Experiment of Vehicle-borne Stabilized Platform Leveling System Based on Active Suspension
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    摘要:

    针对刚性支腿调平装置灵活性差、调平耗时长等问题,设计了一种基于主动悬挂的车载稳定平台调平系统,该系统主要包括三轴六轮车辆底盘、惯性测量单元、控制系统和液压系统。通过悬架互联方式将悬挂作动油缸对车载稳定平台的六点支撑结构等效转换为三点支撑结构,采用“中心不动”调平算法对三支撑点高度进行调节,从而实现对车载稳定平台的调平控制。为验证所设计调平系统的可行性,试制了车载稳定平台样机,并进行了驻车调平和行车调平试验。驻车调平试验包括基于本文设计的调平系统调平试验和基于样机自带的刚性支腿调平装置的调平试验,行车调平试验包括过单边桥调平试验和过双边桥调平试验。结果表明,在驻车调平试验中,采用本文设计的基于主动悬挂的调平系统进行调平,平台俯仰角由2.5°调至水平状态约需5.5s,调平精度为0.1°,相比刚性支腿调平装置,在调平速度和调平精度方面具有明显优势;在行车调平试验中,过单边桥调平时,平台侧倾角最大误差为0.58°,过双边桥调平时,平台俯仰角最大误差为0.55°,行车调平过程中平台倾角变化误差较小,可基本满足实际使用要求。所设计的基于主动悬挂的车载稳定平台调平系统不仅能保证车载稳定平台驻车调平时的调平速度和调平精度,而且能实现在行车过程中边行走、边调平的功能。

    Abstract:

    In order to solve the problems of poor flexibility and long leveling time of the current rigid outrigger leveling device, the vehicleborne stabilized platform leveling system was designed based on active suspension. The system mainly included threeaxle sixwheel vehicle chassis, inertial measurement unit, control system and hydraulic system. By the means of suspension interconnection, the six points support structure of the suspension cylinder to the vehicle platform was equivalent to three points support structure, and the height of the three support points were adjusted by the center fixed leveling algorithm, so as to realize the leveling control of the vehicleborne stabilized platform. In order to verify the feasibility of the leveling system, the prototype was trial manufactured and experimented. The experiment included parking leveling experiment and driving leveling experiment. The parking leveling experiment included two kinds of experiment, one was based on the designed leveling system and the other was based on the original rigid outrigger leveling device of the prototype. The experimental results of the parking leveling showed that during parking leveling, it took about 5.5s to adjust the platform pitch angle from 2.5° to horizontal state and the leveling process was smooth, and the leveling accuracy was 0.1°. Compared with the rigid outriggers, the designed leveling system had obvious advantages in leveling speed and leveling accuracy during the parking leveling. The driving leveling experiment also included two kinds of experiment: unilateral bridge leveling and bilateral bridge leveling. The experimental results of the driving leveling showed that when passing the unilateral bridge for leveling, the maximum platform inclination error was 0.58° and when passing the bilateral bridge for leveling, the maximum platform pitch error was 0.55°. The platform inclination error was small during the driving leveling process which can basically meet the requirements of actual job. It was proved that the vehicleborne stabilized platform leveling system based on active suspension not only can ensure the leveling speed and leveling accuracy during the parking leveling, but also can realize the function of leveling while driving.

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郭庆贺,赵丁选.基于主动悬挂的车载稳定平台调平系统设计与试验[J].农业机械学报,2020,51(10):403-410. GUO Qinghe, ZHAO Dingxuan. Design and Experiment of Vehicle-borne Stabilized Platform Leveling System Based on Active Suspension[J]. Transactions of the Chinese Society for Agricultural Machinery,2020,51(10):403-410.

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  • 收稿日期:2020-02-06
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  • 在线发布日期: 2020-10-10
  • 出版日期: 2020-10-10