果园作业平台倾翻失稳预警系统设计与仿真试验
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摘要
针对我国丘陵山区地形复杂、坡度较大,果园作业平台在山地地形行驶具有较大安全隐患,易倾翻等问题,设计一种果园作业平台的倾翻预警系统,系统采用稳定系数法进行分析,通过对果园作业平台在坡度地形上的受力分析来确定机械倾翻临界点,通过对稳定系数K值的判定来实现机械的倾翻预警。由于果园种植地的山地地形坡度不超过30°,果园作业平台最大加速度不超过3 m/s~2,通过对果园作业平台的实际测量,确定机械重要部分的质量和机械各个部分与倾覆线之间的距离,利用Matlab和Adams软件对其进行仿真分析并结合样机进行试验。试验结果表明:系统设定稳定系数K=0.85作为倾翻阈值,能够较好的实现果园作业平台的倾翻预警。当机械在坡度不大于30°的斜坡上以不超过3 m/s~2的加速度启动时,机械可以正常运行;当机械静止时,可以在坡度为35°的斜坡上驻留,不会发生倾翻现象。满足设计要求。
In view of the problems of complex terrain and large slope in Hilly and mountainous areas of our country, such as the hidden danger of orchard operation platform running in mountainous terrain, easy to overturn and so on, this paper designs an early warning system of orchard operation platform overturning. The system adopts the method of "stability coefficient" to analyze, and through the analysis of orchard operation platform on slope terrain. The critical point of mechanical tipping is determined by force analysis, and the early warning of mechanical tipping is realized by judging the value of stability coefficient K. Because the hilly terrain gradient of orchard planting area does not exceed 30 degrees and the maximum acceleration of orchard operating platform does not exceed 10 m/s~2, through the actual measurement of orchard operation platform, the quality of important parts of the machinery and the distance between each part of the machinery and the overturning line are determined. Matlab and Adams software are used to analyze the simulation and test the prototype. The test results show that the system setting stability coefficient K=0.85 as the tipping threshold can better realize the tipping warning of the orchard operation platform. When the machine is started at an acceleration of not more than 3 m/s~2 on a slope with a slope of not more than 30°, the machine can operate normally; when the machine is stationary, it can reside on the slope of 35° slope, tilting phenomenon will not occur. It meets the design requirements.
In view of the problems of complex terrain and large slope in Hilly and mountainous areas of our country, such as the hidden danger of orchard operation platform running in mountainous terrain, easy to overturn and so on, this paper designs an early warning system of orchard operation platform overturning. The system adopts the method of "stability coefficient" to analyze, and through the analysis of orchard operation platform on slope terrain. The critical point of mechanical tipping is determined by force analysis, and the early warning of mechanical tipping is realized by judging the value of stability coefficient K. Because the hilly terrain gradient of orchard planting area does not exceed 30 degrees and the maximum acceleration of orchard operating platform does not exceed 10 m/s~2, through the actual measurement of orchard operation platform, the quality of important parts of the machinery and the distance between each part of the machinery and the overturning line are determined. Matlab and Adams software are used to analyze the simulation and test the prototype. The test results show that the system setting stability coefficient K=0.85 as the tipping threshold can better realize the tipping warning of the orchard operation platform. When the machine is started at an acceleration of not more than 3 m/s~2 on a slope with a slope of not more than 30°, the machine can operate normally; when the machine is stationary, it can reside on the slope of 35° slope, tilting phenomenon will not occur. It meets the design requirements.
引文
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[15] 王永振,仉利,樊桂菊,等.果园管理机的倾翻预警控制系统设计与试验[J].中国农机化学报,2017,38(9):40-43.Wang Yongzhen,Zhang Li,Fan Guiju,et al.Design and experiment of tipping early warning-control system for orchard management machine [J].Journal of Chinese Agricultural Mechanization,2017,38(9):40-43.
[16] 王永振,宋月鹏,仉利,等.基于GPRS的果园管理机安全智能预警系统[J].中国农机化学报,2017,38(2):84-87.Wang Yongzhen,Song Yuepeng,Zhang Li,et al.Intelligent warning system of orchard management machine based on GPRS [J].Journal of Chinese Agricultural Mechanization,2017,38(2):84-87.
[2] 王保顺,杨晓雷.加快丘陵山区农业机械化发展的有效途径[J].河北农机,2009(4):5-6.
[3] 孟祥金,沈从举,汤智辉,等.果园作业机械的现状与发展[J].农业机械,2012(25):114-117.
[4] 白艳.我国农机安全生产形势分析[J].中国农机化学报,2013,34(4):8-11,22.Bai Yan.Analysis on operation safety of agricultural machinery of China [J].Journal of Chinese Agricultural Mechanization,2013,34(4):8-11,22.
[5] 姬敬山.浅谈汽车式起重机倾翻事故的原因及预防[A].中国职业安全健康协会.中国职业安全健康协会2005年学术年会论文集[C].中国职业安全健康协会:中国职业安全健康协会,2005:2.
[6] 李倩,宋月鹏,高东升,等.我国果园管理机械发展现状及趋势[J].农业装备与车辆工程,2012(2):1-3,7.Li Qian,Song Yuepeng,Gao Dongsheng,et al.Status and development of orchard machinery in China [J].Agricultural Equipment & Vehicle Engineering,2012(2):1-3,7.
[7] 孙振杰.履带式多功能果园作业平台的设计与研究[D].保定:河北农业大学,2012.Sun Zhenjie.Design and research of crawler multifunctional orchard operating platform [D].Baoding:Agricultural University of Hebei,2012.
[8] 何成奎,谢娣,何瑞银,等.3WPZ-500高地隙喷雾机的稳定性分析[J].中国农机化学报,2017,38(10):24-29,66.He Chengkui,Xie Di,He Ruiyin,et al.Stability analysis of 3WPZ-500 high clearance sprayer [J].Journal of Chinese Agricultural Mechanization,2017,38(10):24-29,66.
[9] 何锋.车辆平面运动与侧倾运动关系的分析[J].现代机械,2004(2):71-72.He Fen.Analysis of relationship between the planar motions and roll motion of vehicles [J].Modern machinery,2004(2):71-72.
[10] 陈浩宇.基于稳定角的轮式装载机倾翻失稳规律研究[D].厦门:厦门大学,2014.Chen Haoyu.Wheel loader instability regular research based on stable angle [D].Xiamen:Xiamen University,2014.
[11] 贾钢.基于差动制动的运动型多功能轿车防侧翻控制研究[D].北京:清华大学,2015.Jia Gang.The research on anti-roll control of sport utility vehicle based on differential braking [D].Beijing:Tsinghua University,2015.
[12] 刘东.考虑大变形因素的高空作业车倾覆稳定性研究[D].大连:大连理工大学,2011.Liu Dong.Overturning stability analysis of aerial work platform based on large deflection [D].Dalian:Dalian University of Technology,2011.
[13] 柳宁,孙桓五,陈新志,等.4YZP-2型玉米收割机转向侧倾稳定性的研究[J].中国农机化学报,2014,35(6):38-41.Liu Ning,Sun Huanwu,Chen Xinzhi,et al.Research on the rollover stability of 4YZP-2 corn harvester [J].Journal of Chinese Agricultural Mechanization,2014,35(6):38-41.
[14] 赵伟,王宁宁,段燕燕,等.车辆防侧翻横摆力矩最优控制策略研究[J].中国农机化学报,2016,37(6):133-138.Zhao Wei,Wang Ningning,Duan Yanyan,et al.Study on vehicle rollover prevention yaw moment optimal control strategy [J].Journal of Chinese Agricultural Mechanization,2016,37(6):133-138.
[15] 王永振,仉利,樊桂菊,等.果园管理机的倾翻预警控制系统设计与试验[J].中国农机化学报,2017,38(9):40-43.Wang Yongzhen,Zhang Li,Fan Guiju,et al.Design and experiment of tipping early warning-control system for orchard management machine [J].Journal of Chinese Agricultural Mechanization,2017,38(9):40-43.
[16] 王永振,宋月鹏,仉利,等.基于GPRS的果园管理机安全智能预警系统[J].中国农机化学报,2017,38(2):84-87.Wang Yongzhen,Song Yuepeng,Zhang Li,et al.Intelligent warning system of orchard management machine based on GPRS [J].Journal of Chinese Agricultural Mechanization,2017,38(2):84-87.