农业机械自动转向装置集成系统设计及试验

doi:10.13733/j.jcam.issn.2095⁃5553.2022.03.003

摘要/Abstract

摘要： 为实现农机装备的自动转向，采用直流电机经过齿轮减速器力矩放大后驱动全液压转向器的方法，设计一款高度集成的农机自动转向集成装置系统，包括自动转向控制结构、控制器电路及其车轮转向精确伺服控制算法，控制器采用飞思卡尔车规级芯片，并考虑在农机在未点火发动状态下的不安全转向情况，使得控制逻辑更加安全可靠。通过Matlab建立农机前轮的电控转向液压模型，开展不同转向角度信号的仿真试验，验证本文控制算法的响应特性。将自动转向集成装置安装在高地隙植保机器人上开展田间实车试验，试验结果表明，车轮转角控制误差小于0.2°，超调量小于2%，±20°转向最快响应时间为1.3 s，自动转向控制系统控制效果良好，能够满足常见农机的自动转向。

关键词: 直流电机, 自动转向, 控制器, 伺服控制

Abstract: In order to realize the automatic steering of agricultural equipment, a highly integrated system of automatic steering device for agricultural machinery is designed by using a DC motor to drive hydraulic redirector after amplifying the torque through a gear reducer.This system includes the automatic steering control structure, the controller circuit and its wheel steering precise servo control algorithm.The controller adopts Freescale automotive grade chip and considers the unsafe steering situation when the agricultural machine is not started, which makes the control logic safe and more reliable. The electro-hydraulic steering model of the front wheels is established by Matlab, and the simulation experiments with different steering angle signals are carried out to verify the response characteristics of the control algorithm in this paper. The device is installed on the highland gap planting robot and the experimental results show that the wheel turning angle control error is less than 0. 2°, the overshoot is less than 2%, and the fastest response time of ±20° steering is 1. 3s. The automatic steering control system has good control effect and can meet the automatic steering of common agricultural machines.

Key words: , DC motor, automatic steering, controller, servo control

中图分类号:

张刚, 陈志桢, 程尚坤, 温兴, 马强龙, 杨洋, , 马标. 农业机械自动转向装置集成系统设计及试验[J]. 中国农机化学报, 2022, 43(3): 19-27.

Zhang Gang, Chen Zhizhen, Cheng Shangkun, Wen Xing, Ma Qianglong, Yang Yang, Ma Biao.. Design and experiment of automatic steering integrated system for agricultural machinery[J]. Journal of Chinese Agricultural Mechanization, 2022, 43(3): 19-27.

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