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中国农机化学报

中国农机化学报 ›› 2022, Vol. 43 ›› Issue (7): 51-56.DOI: 10.13733/j.jcam.issn.20955553.2022.07.009

• 设施农业与植保机械工程 • 上一篇    下一篇

高地隙植保机油门自动控制系统研制与试验

李加琪1,杜娟1, 2,安广顺1,任可芸1,王中義1,印祥1, 2   

  1. 1. 山东理工大学农业工程与食品科学学院,山东淄博,255000; 
    2. 山东省旱作农业机械及信息化重点实验室,山东淄博,255000
  • 出版日期:2022-07-15 发布日期:2022-06-27
  • 基金资助:
    山东省自然科学基金项目(ZR2020MC085);国家自然科学基金项目(32171910);山东省科技创新基地专项(SDKL2019014)

Development and experiments of the automatic throttle control system for highclearance spraying machine

Li Jiaqi, Du Juan, An Guangshun, Ren Keyun, Wang Zhongyi, Yin Xiang.   

  • Online:2022-07-15 Published:2022-06-27

摘要: 针对农业无人驾驶系统对高地隙植保机提出的油门自动控制需求,研制了以直流电机为动力源的油门自动控制系统,主要包括油门控制器、直流减速电机、电机驱动器、角度传感器、拉线轮等。油门控制器用以读取角度传感器的输出值,将其与CAN总线上的油门指令进行比较,将控制信号发送至电机驱动器以控制减速电机的正反转,从而带动拉线轮旋转至目标位置。研究根据高地隙植保机发动机油门动作原理,进行自动油门装置的总体结构设计,并对直流电机、角度传感器进行选型,加工制作零部件完成了自动油门装置的组装和调试。试验结果表明,所研制的油门自动控制系统在[0°,70°]范围内,角度相对误差不超过4%;发动机转速误差最大值发生在拉线轮转动角度为65°时,为19.8 r/min;发动机转速误差最小值发生在转动角度为50°时,为10 r/min;最小标准偏差和最大标准偏差发生50°和55°时,分别为3.03 r/min、6.33 r/min,相对标准偏差≤0.55%。本文研制的油门自动控制装置具备良好的控制稳定性和可靠性,能够满足农业无人驾驶系统对油门控制的基本要求。

关键词: 高地隙植保机, 油门自动控制, 发动机转速, 角度传感器

Abstract: In view of the throttle automatic control requirements of the agricultural unmanned driving system for the highclearance spraying machine,  the throttle automatic control system with the DC motor as the power source is developed,  mainly including the throttle controller,  DC gear motor,  motor driver,  angle sensor,  and pulling wheel. The throttle controller reads the output value of the angle sensor,  compares it to the throttle command on the CAN bus,  and sends a control signal to the motor driver to control the forward and reverse of the geared motor,  thereby driving the pulley to rotate to the target position. According to the throttle action principle of the high gap plant protection machine engine,  the overall structure design of the automatic throttle device is carried out,  the DC motor and angle sensor are selected,  and the assembly and debugging of the automatic throttle device are completed by processing and manufacturing parts. The experimental results show that in the range of [0°,  70°],  the relative error of angle shall not exceed 4%. The maximum engine speed error of the developed throttle automatic control system occurs at 19.8 r/min when the rotation angle of the puller is 65°. The minimum value of the engine speed error occurs at 10 r/min when the rotation angle is 50°.  The minimum standard deviation and the maximum standard deviation occur at 50° and 55°,  and 303 r/min and 633 r/min, respectively. The relative standard deviation is less than or equal to 0.55%. The throttle automatic control device developed in this paper has good control stability and reliability,  which can meet the basic requirements of agricultural unmanned driving system for throttle control.

Key words: highclearance spraying machine, automatic throttle control, engine speed, angle sensor

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