發(fā)布時(shí)間：2018-06-27 19:41

  本文選題：非道路 + 四輪獨(dú)立轉(zhuǎn)向　； 參考：《農(nóng)機(jī)化研究》2017年07期

【摘要】：我國苜蓿主要生產(chǎn)區(qū)為甘肅、寧夏等路況復(fù)雜的山地丘陵地帶,用于苜蓿收獲的非道路動(dòng)力底盤的行駛靈活性將直接影響其作業(yè)性能。為改善其低速工況下的行駛靈活性,基于車輛三自由度動(dòng)力學(xué)模型提出了非道路動(dòng)力底盤以跟隨已知路線前進(jìn)為目標(biāo)的多種工況下的分層控制策略,搭建了四輪轉(zhuǎn)向硬件在環(huán)實(shí)驗(yàn)平臺(tái),并進(jìn)行了仿真實(shí)驗(yàn)。實(shí)驗(yàn)結(jié)果表明:動(dòng)力底盤模型能夠?qū)崿F(xiàn)軌跡跟隨、原地轉(zhuǎn)向及斜向行駛,質(zhì)心位置最大偏差為0.6 4 1 8 m,中心線方向最大偏差為3.3 0 9 6 rad。開發(fā)的控制系統(tǒng)取得較好的半實(shí)物仿真效果,為改善非道路動(dòng)力底盤低速情況下轉(zhuǎn)向靈活性提供了理論基礎(chǔ)。
[Abstract]:The main production areas of alfalfa in China are Gansu Ningxia and other mountainous hilly areas with complex road conditions. The driving flexibility of the non-road power chassis used for alfalfa harvesting will directly affect its performance. In order to improve the driving flexibility at low speed, a layered control strategy for non-road power chassis is proposed based on the three-degree-of-freedom dynamic model of the vehicle, which aims at following the known route. A four-wheel steering hardware in-loop experimental platform is built, and the simulation experiment is carried out. The experimental results show that the power chassis model can follow the track, turn in situ and drive diagonally. The maximum deviation of the center of mass position is 0.6 418 m, and the maximum deviation of the center line direction is 3.09 6 rad. The development of the control system has achieved a good result of hardware-in-the-loop simulation, which provides a theoretical basis for improving the steering flexibility of the non-road power chassis at low speed.
【作者單位】： 中國農(nóng)業(yè)大學(xué)工學(xué)院;
【基金】：公益性行業(yè)(農(nóng)業(yè))科研專項(xiàng)(201203024)
【分類號(hào)】：S817.11

【相似文獻(xiàn)】

相關(guān)期刊論文 前1條

1 ;半喂入聯(lián)合收割機(jī)[J];農(nóng)家致富;2011年11期

，

本文編號(hào)：2075072