履带式拖拉机运动控制系统设计与试验
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摘要
我国拖拉机主要以手动操作为主,为提高拖拉机的作业强度、精度和效率,替代人工操作,为无线远距离控制、高精度自主导航、机械视觉导航和物联网等相关作业技术提供拖拉机运动控制接口,提出了在柴油发动机驱动履带式拖拉机底盘上搭载电子油门控制装置和电控液压转向装置的设计方案,可实现远程无线遥控固定角度转向、车速控制和实时返回状态数据等功能。试验表明:电子油门控制装置对油门拉杆控制响应速度快、控制准确,固定角度转向误差在±3°范围内,调试遥控器稳定控制距离350m,上位机无线接收稳定数据距离200 m。研究成果可为拖拉机运动控制系统设计与改进提供参考。
China's tractors are mainly operated manually. In order to improve the tractor's operating intensity precision and efficiency and to replace manual operation,this paper provides tractor motion control interface for wireless remote control,high-precision autonomous navigation,mechanical vision navigation and Internet of things etc. This paper proposes design scheme of electronic throttle control device and electronic hydraulic steering device on diesel engine driven crawler tractor chassis. It can realize functions of remote wireless remote control of fixed angle steering,speed control and real-time return state data functions of remote wireless control. Experiments show that electronic throttle control device has fast response speed and accurate control for it. Fixed angle steering error is within ± 3 °range and the control distance of the controller is 350 m. Wireless receiving stable data distance from host computer is 200 m. The research results can provide reference for the design and improvement of tractor motion control system.
China's tractors are mainly operated manually. In order to improve the tractor's operating intensity precision and efficiency and to replace manual operation,this paper provides tractor motion control interface for wireless remote control,high-precision autonomous navigation,mechanical vision navigation and Internet of things etc. This paper proposes design scheme of electronic throttle control device and electronic hydraulic steering device on diesel engine driven crawler tractor chassis. It can realize functions of remote wireless remote control of fixed angle steering,speed control and real-time return state data functions of remote wireless control. Experiments show that electronic throttle control device has fast response speed and accurate control for it. Fixed angle steering error is within ± 3 °range and the control distance of the controller is 350 m. Wireless receiving stable data distance from host computer is 200 m. The research results can provide reference for the design and improvement of tractor motion control system.
引文
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[2]刘阳.拖拉机自动导航系统CAN总线的设计与实现[D].石河子:石河子大学,2012.
[3]贾全.拖拉机自动导航系统关键技术研究[D].北京:中国农业机械化科学研究院,2013.
[4]赵建东,安秋,姬长英,等.基于东方红-250拖拉机的自动转向控制系统设计[J].江苏农业科学,2013,41(4):349-351.
[5]韩科立,朱忠祥,毛恩荣,等.基于自动机械式变速的拖拉机定速巡航系统[J].农业工程学报,2012,28(4):21-26.
[6]杨柳,罗婷婷,程新荣,等.基于Raspberry Pi的拖拉机通用自动驾驶系统[J].农业工程学报,2015,31(21):109-115.
[7]王元杰,刘永成,杨福增,等.温室微型遥控电动拖拉机的研制与试验[J].农业工程学报,2012,28(22):23-28.
[8]阳帅,蒋蘋,胡文武,等.履带式拖拉机可视遥控驾驶系统的设计及试验[J].湖南农业大学学报,2016,42(5):561-566.
[9]魏丹.全液压驱动履带式拖拉机电控系统的设计[D].杨凌:西北农林科技大学,2013.
[10]谢斌,张超,毛恩荣,等.基于myRIO的电动拖拉机驱动控制器设计与室内试验[J].农业工程学报,2015,31(18):55-62.
[11]樊桂菊,王永振,仉利,等.履带风送式喷雾机的设计与试验[J].农机化研究,2018,40(5):117-120,126.
[12]李格伦,崔天时,刘春莉,等.农用轮式机器人运动控制系统设计与试验[J].农机化研究,2018,40(2):192-196.