Abstract: Aiming at the unreasonable load distribution between walking speed and PTO speed caused by realtime changes of slope angle and mowing resistance factor in mowing operation, a control strategy for load distribution of crawler lawn mower on slope operation was proposed. The kinematic model and control strategy simulation were established according to the working environment, vehicle state and operation requirements. The simulation results showed that when the PTO speed was 1 600-1 900 r/min, the slope Angle remained unchanged, the mowing resistance factor increased, and the working speed and PTO speed decreased. The mowing resistance factor remained unchanged, the slope Angle increased, the working speed decreased, and the PTO speed increased. Through the experimental design with slope angle, grass height and grass moisture content as the test variables, the Box—Behnken response surface design method with three factors and three levels was used to verify the simulation results. Field experiments by using operation efficiency and fuel consumption as indicators verified the increase rate compared with the traditional control strategy, the results showed that the operation load distribution control strategy significantly improved the comprehensive operation performance of the lawn mower, and the greater the slope angle was, the more significant the improvement was, when the slope angle was 30°, the operation efficiency was increased by 9.8%, and the fuel consumption was reduced by 5.8%.

Key words: crawler mower, load distribution, slope work, control strategy, response surface test

摘要： 针对割草机作业中受坡地角度和割草阻力因子实时变化而造成的行走速度与PTO转速之间的负荷分配不合理问题，提出一种履带割草机坡地作业负荷分配的控制策略。根据作业环境、车辆状态和作业要求建立数学模型及控制策略仿真。仿真结果表明，当PTO转速为1 600~1 900 r/min时，坡地角度不变、割草阻力因子增加，作业速度及PTO转速均下降。割草阻力因子不变、坡地角度增加，作业速度减小，PTO转速增大。以坡地角度、草高度和草含水率为试验变量，采用三因素三水平的Box—Behnken响应面设计方法验证仿真结果。以作业效率和油耗为试验指标进行田间试验，验证所设计的控制策略相较于传统控制策略的提升率。试验结果表明：作业负荷分配控制策略显著提升割草机综合作业性能，且坡道角度越大提升效果越显著，当坡度角度为30°时，作业效率提升9.8%，油耗降低5.8%。

关键词: 履带割草机, 负荷分配, 坡地作业, 控制策略, 响应面试验